adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3813, -0.0227, -0.0269, 0.9996, -0.0219, 0.7921, 0.6018, -0.3786, -0.0158, -0.033, 0.997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1799 left_yaw=-0.0008 left_pitch=-0.0 left_roll=0.0006 left_gripper=0.9996 right_x=0.2946 right_y=-0.0001 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -1.4974, 10.1538, 1.7998, -0.0464, 0.0904, -0.0611, -0.5128, -1.3197, 10.2359, 1.9219, -0.0659, 0.1783, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecbcbd854a1b5dadddcaad54bac68d2cac78c8e5af60ced0bc69dadfb63de6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5085915e758957fab4d5464b908f5efd371fc347d38c73f4991600f38059f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee5308bde4f345ff081d08361bb985c1b00b53acdbbf6821915c7a127d0cef2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_095e49b6a96aa3ed016ab431b74b4887d0adf941b1a8824af1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDG8ntRV5wpXeJ_KIb-0Cdbp5NFW4x_NLvYbP8vGMSCSCTHgrFUd0xBDFBSRZhCEPCTyiEcr8QlWq2d8OYTIXsuRKz99pYdUiPsY2kMsAzTfiMNgUcYuAm-t1t9cWTnQddy1RN1FXxPI7nion1qcQksrpmpfDZEjyz09EmD9iWKwJQ8qsq-3FWkz5h94w22G75VsXkSgcWiPC5WDsYdJPF5r3jBWzfo58NOwUf2Mh3sdhhdQ3-Tshlj1GkinUG4zBPUTE3Gc2U87IAmOfwe0fTHkBDboJhxKpvz5u5TWA7YUKjxbpE24ldMDhuKTx_6vZ5ZFNTtbFn8vcT1B3Aup2foWSmGFwAh6ajqFxoE-TLNpRfU5zPrnFXePbzuGFOY0brdC5c6l8xJiYhb3S1zhMQ9W5UBYbWcm90p2FsIBu1ZuurDG5pLwME5NxOQUHxOtHNm9_8-IQSv9Ku2a4tbBvc8etdZTY24jUpBHstyppN-wSOpdx6ys_ITejGcVrYnOxL8F1b5Lgs1_DvOtzxTlqqop6nxkeNK1iwgbQf2rweex6i8v108ITDN3VZkgBQ3NmFZQTtieH51BFvxyeQRKR82_5x_FMxNqy0Sotp2U_dbou_JzekW-k0wDBQkaDQPioOB8FNIYpo1tIuuT1YLtWeSNxC2qrX2fdbHYhznrafr-WaicEp9jZx8Ta9NB4kaMIIMY_bB8kYVe5wjvyO-CtKk0vv-4IRVTI3_j_6rrlSLm6ecjchZYS8_AwO9M_Xx8WR-dWE3vCu-OniPkLAeBWMOS20AX0lZ-DEroGx7ECSjQRZYvuqvFUUBh9Gj6BLArnWelkQVIGtsmeHGl7jXb_T90sIXyPzq4cIsVQcJUY8AJlWXpd4xahT6yar6bJI3JCyxR6P41Xv_GFPNxvAoFlPmgCmEatbblHLo5p99mPGA5zW-ouMBOh6nYvv_0XeKVquvKfut3m61zhm8qQgFdHx9bjTdz2a1byo50umQoC4vUJ1c5TcLHH4V7X6L9TdhPWNEHYGjtV42z2Gkg1S4e54uyVyC6s5y_zX4-JIZzdS5-1QWaB3ofJyCe7docffxquv9qjTsWsEOvhMYVvW4URemleRwS6ood-IS_7ISHR3OuUyC2G7yV9pVBW51DKWw8rKbyhd3VZBdkl3VT27BG668GKINQrAOaF0lfd46bGFg63-oQy8nE1xmJ_y8tF6Egksogld9rOKckhX1PY9QL_MvlRuDAOVPshdyxUA7uBuQwvwn40OiXYzMLdxJ-qY_PGXZJyhb9SEvDD8SvG0nPkPxwVt5X3w_uXGzhVJ6Xf0_Pz5Ax1MVZ70w1EbD9R33MByB-",
  "id": "rs_095e49b6a96aa3ed016ab431bb702887d0948e3c455b811f70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.14,\"right_z\":0.14},\"note\":\"Three upright bowls are spaced across the middle of the table. I’ll bring the right gripper above the rightmost bowl first, then use its wrist view to align with the rim.\"}",
  "call_id": "call_u4mxiHf8NtqUZFEavrG71wr3",
  "id": "fc_095e49b6a96aa3ed016ab431bbc70087d09560e1e0cf26482e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u4mxiHf8NtqUZFEavrG71wr3",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.5854, 1.3067, 0.6739, -0.1055, 0.4442, 0.2893, 0.9968]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1783 left_yaw=-0.0008 left_pitch=-0.0095 left_roll=0.0015 left_gripper=0.9995 right_x=0.335 right_y=0.1353 right_z=0.1159 right_yaw=0.0494 right_pitch=-0.0853 right_roll=-0.048 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.6068, 6.8444, 1.7656, -0.0806, -0.0806, -0.0171, 0.212, -5.3675, 9.5248, 1.7411, 0.3932, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6b94fed18841f59cfa3f1d5ac4a4b8f4fe2eb89d20684f3a713c3b925311d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72b31775069b483934e21287487a94f5d7c997ff56fe42de0a0b9883955cd08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3403dbf2b372357c46f4bba1b2dce7bf23ef94e6c93ef6c3efffaadbc5bd2e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3813, -0.0227, -0.0269, 0.9996, -0.0219, 0.7921, 0.6018, -0.3786, -0.0158, -0.033, 0.997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1799 left_yaw=-0.0008 left_pitch=-0.0 left_roll=0.0006 left_gripper=0.9996 right_x=0.2946 right_y=-0.0001 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -1.4974, 10.1538, 1.7998, -0.0464, 0.0904, -0.0611, -0.5128, -1.3197, 10.2359, 1.9219, -0.0659, 0.1783, -0.3199]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.5854, 1.3067, 0.6739, -0.1055, 0.4442, 0.2893, 0.9968]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1783 left_yaw=-0.0008 left_pitch=-0.0095 left_roll=0.0015 left_gripper=0.9995 right_x=0.335 right_y=0.1353 right_z=0.1159 right_yaw=0.0494 right_pitch=-0.0853 right_roll=-0.048 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.6068, 6.8444, 1.7656, -0.0806, -0.0806, -0.0171, 0.212, -5.3675, 9.5248, 1.7411, 0.3932, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6b94fed18841f59cfa3f1d5ac4a4b8f4fe2eb89d20684f3a713c3b925311d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72b31775069b483934e21287487a94f5d7c997ff56fe42de0a0b9883955cd08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3403dbf2b372357c46f4bba1b2dce7bf23ef94e6c93ef6c3efffaadbc5bd2e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHBDqmbm2OmdINUmLExT-GY_QbOFz3VL8uzubPJwJTefMvYqiVjxCAIX76_j7Y4ulDDRsmG00IdGACDzbWcHWtJrTtdknuBH22VtNNBy5W2HRkwY06Z192eBBVAeWX6GHc1N8C5duwmJ4fhlujYDykecQbTdkEdT6kcJCRZHjliJrmGm7lKgIl6y2edDUBTZTTVPB56C_ExdRCTCcwxi3DGlTKrtfr8dgODKawPEbzHayBNkTqUrNJL71CDAYpf3Mgk0mov5qd8f7w_vtdLf7t5D-8ultJ8AgzPz6mvSuzz7Yh0LsIMk3nIilQrjdoIUvRbI25Bd0B40OoTaqgbGQJvvnRLJZxWIeupYcNE_KAqg26grbOmhKOpo2xUoYog0sGjU8PcfRnJZ9UC53g54guw6-iQkruh_3P85wDkZvnKHG5ccFI-y6N23xIujpd4MxwzXfJAJzxhPJXfHmXDQ_HmKfL14S7MiK6Ev0LgTF3w9XKs6Gf5GaCwXT7XbvDDMjypYJgft2Dc8wwGnqjS23qdxhrj4s5-9TAVl0I_g6GydYvr1qqxPsOID8_--adGBfOCI7VWlv-jQxQF1IBEoJY-n-gyBxioKzPhhDQK5ZjjCd2JpwUtGJH8BJuJhIYUIamdMc6mvLfz0lPyWAUS4tnVuUCbnAHfpwhvrY6M2LGR31fRwLcBBEb6OA8-6yPi3s9KoPqJKA-Rk95XU3inX-y_8PGRP8mw6TN1MhNqmrEokjiN4sEAb7mdevHE5DpI6ndtAh4uDtMJsiS1t5SQERZZPrIi_knT0sYzdyE22bLz8cjDDuum_HCumvyZI-MMo_f5obmfoMdQtgoN3YSKpmxkqMSi1DbSqLBP7b63SXtTa8XycmMITHIiJgA6dZVpRVc9d7gGzIzQpForY5xpoP5gexDNtsE0Ck0vKUX0hHi3t51izM0b-i0Sd0tYqRpjXAu1iDfz6_77lihhxKgnrKrf_ISmXYSvV2kQwizJzvypJSBX-zB_kyHMBkxMMmIkp3nAsny4V1RyMS3JRF4OIaia_LuBP5drtGYzzPbLVGMjNOnJjfE9FwPEb-F4gGXWRqT2KI-WLKGBU1uBkB2lyunHWqR2LPQIvfFXY13Wu3GYwn7NtELfyL-TL0bq0hTd4QhThZIwuDWggS5pviozLrjzkysdXjZBGqZbbjpr7NfC94rG_M6N92751LM4NxW9gHRXCG6BdC0XV1vOg9mSSgJrLGx8PZNqbU0WxUX5hU-laLTLfWUJ-Ng6zx0bwRXvMyl-2zH6eJSsZQfqrmQAI95jF2fvOpVHa78rLEmL9V3iEAkbJfY8kz9_pd7uaDq7YcH-xk_T23jnedtYkw5QvXUMQlnDCEqZv2s7Q7cp7cGJhIH7uImKXXRoFXpX0ddbYCbGbsVoOcnCrnTLlqmhBwgZ-KBubj7zUi2XB_f-QnGgsK9eH_f3p3zK-alQ2LBK9tux-sc4OxonbQO959k1-xGXvGdkk3-wHNVBuL2XuX5owLGskgP2URe0ZlWzrrLNMXBWccuYarRsegET1ksIFZvaL9dTYoTZaJFty4fc6PEp7GdBfOHCiWDsvvM-tHozHrKAwELoVhdBx8GboDqGNYsQUvDTe7M1T2KAgByqsykwlxAWruCjHReOtCaFnQXdnNzFL7LfuT6DoDr-fKhotBmnnexSjIhP7jIq7Bf5eGUfmP4oGjSaUPji4GOf65C6IMDSY-k_af3vx0pnOUdC8k_PdfgPEAQXElPvdFqrn03tROOravmgyNB3PsvNRR9FSTRGuwmcZlLXV9ftG_SkBjktk9IacmkjV7TviarqgSqHdfQLYE2TZ478lELunsYFl349EZAIJ1jnVCmNDz4hZ1SvL7nTvbUZ7xDRUdrhyOQ6ax8gCwm3HiBIQxC8YpTGSUUumwT2b5jKwUJxlYKZY1LSvniBelBPfYOhVGCywEnCY1rTzAhEBb5LyAF572eTywQkW2fLYqQyEEd7N89CgFIFYNmljBG_qR_OluU-6ZsvM6e8AkrHaKrIkay5Bi_0eXKChKLH_bJBo0u1QX6Mmhem4mqi0-CR1pIBafFIrjU0UJyj3LE1PlZZcJmWKZZ3XfRFbxHDCv8ZFa-56dpjlZvF3o51OZv1hRUXljMf1BAfujNAea10s9_WY6p2MPkJYx2QnO17rg79_bmD7ZgrrpNvgb-3MwAu8ys9l50H5UzAKEXPV35d7Z4geGZdcwUof3Sr2hZyKgKKlq_Bterwf06OsVZj_w4D17kDtu8y8OdW1Md_fLN5sKzmmYafEymSgK4YpTBkTV0dDfU579DSmokas0942KPfcPQGwQFQZ8-RkGsRInd2Jiv0wew_I8uQOKIE02EvH4TcbPlxNoaVefblCYpA-x0nGxxlaPqWJNe6OD8=",
  "id": "rs_095e49b6a96aa3ed016ab431be665887d0a420031ae4e41c09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_z\":0.055},\"note\":\"The right bowl is centered between the right gripper’s jaws, with its near rim close to the bottom of the wrist image. I’ll advance slightly and lower the open jaws to rim height before closing.\"}",
  "call_id": "call_BksNgECpP6opOOJoGeINKbJ2",
  "id": "fc_095e49b6a96aa3ed016ab431c0805c87d0b17f5047e02051a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BksNgECpP6opOOJoGeINKbJ2",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.5453, 1.5265, 0.5758, 0.1234, 0.4225, 0.2687, 0.9968]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.177 left_yaw=-0.0008 left_pitch=-0.0145 left_roll=0.0016 left_gripper=0.9995 right_x=0.3401 right_y=0.1258 right_z=0.0412 right_yaw=0.032 right_pitch=-0.1707 right_roll=-0.0954 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -1.5385, 7.0085, 1.6972, -0.0464, -0.0562, -0.0122, -0.3624, -6.9949, 6.2974, 1.8584, 0.0952, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515af42a7c2dd4f1e7e058cfcf087e202222f5fd066f3d6a541b61db3076c48b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a537ec568b0fe0fe8db59eda634a2d6595b831c6b59b9d78732d6298be45804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb772dd5ceecad241dc5956545c463860364a8c7b6002d796892da8356369b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.5854, 1.3067, 0.6739, -0.1055, 0.4442, 0.2893, 0.9968]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1783 left_yaw=-0.0008 left_pitch=-0.0095 left_roll=0.0015 left_gripper=0.9995 right_x=0.335 right_y=0.1353 right_z=0.1159 right_yaw=0.0494 right_pitch=-0.0853 right_roll=-0.048 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.6068, 6.8444, 1.7656, -0.0806, -0.0806, -0.0171, 0.212, -5.3675, 9.5248, 1.7411, 0.3932, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.5453, 1.5265, 0.5758, 0.1234, 0.4225, 0.2687, 0.9968]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.177 left_yaw=-0.0008 left_pitch=-0.0145 left_roll=0.0016 left_gripper=0.9995 right_x=0.3401 right_y=0.1258 right_z=0.0412 right_yaw=0.032 right_pitch=-0.1707 right_roll=-0.0954 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -1.5385, 7.0085, 1.6972, -0.0464, -0.0562, -0.0122, -0.3624, -6.9949, 6.2974, 1.8584, 0.0952, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515af42a7c2dd4f1e7e058cfcf087e202222f5fd066f3d6a541b61db3076c48b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a537ec568b0fe0fe8db59eda634a2d6595b831c6b59b9d78732d6298be45804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb772dd5ceecad241dc5956545c463860364a8c7b6002d796892da8356369b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHE1d-GGUd1ssyfqeZtiX7R1n-DL6U_bXi9zQjcLamAiUghZ3JGsgArICNVcDed_vaeZQ9PfdFKLoo9NoJebIAn4weA-6n1cWPvhYY9hxNkyornslN8Zyf7hp51M5s2mGHrz1AKMJaM0NiZP0Ky8zQow77BZYB41S6ShtjlLVsS2zNY2KAhyTutad3ZD5hiJ9hEHtYvuVQIa97sKfbnORqxP1_AytY-Mjlpk7hExknq7836wcgmQOslLs1IsGPlCbiYq0whEsxt9E0C8ene2KEfrjgMCy0J5NodbWIclb0MmMY1sZn8rxd2-_IPZoPoIHXRCZ-mHuU6MO_UGHyEnb382xAy9Gz9DewiC_3F8d0bBDYuB7AEJR6avw2eyanhFZXzVqnxq_Y0fAkT6mCztM5j-C8UroiAy7EfM9iW232kgcBfy99YT7ACWhm3cOUNU3G0w96l-_t0WDiue56bHnF-CKcRudoNwxPTIp6yLM1lPsGDtCJwobo-CEeY4VsIFpQ3dTeUXgj3C_ACE4jO0Rw9r2a07ro4aQYXP7j6LPwwdmIu_jYMwbfbbVZfwq8YavXxqc8K4YdEWHI_O2VnE70Cqo-jdaEHaaREOSGPcF7CQ6t_PMvD4iMz_m7_QqW-Sr8vTcdfZvnZnxbWGirUqHvaRSXJ44pROxjtEHsA3JO_BNtElUuivNNpRvwIJ6Bp7p3JWd11IB1u0VnPn5ncOMlY_oW5RcLIos1d3BTW1KK8mPXGkfV6AzKe-oR-IxguCO1Vn_ZhpEjDPUVWSsqdRdgC1nBat2rICAwiSiyh198VcQDqk1pCNQ6C4yIdt9bhxZgoYfwaVBGvdx0dGs23M37nqqSX2H-zfoT83TWS-2sJmczm1i5DwOQnvefinpIzJeAMrL4HUcFw9i4mGOBUVuCFbCLPn9HvzxZIInpQGPzLdqyXyKA8a0pE5Dy0p0bkhTVNQg2DKA1GxlAJypq9zPyRcpd0QaNkZ3dX-ZGnRlofB5HlhMsVMPk2WSbm_jETKSTmwSqNJ6nrTYAow2cctTjCanne7c4E2VYigB_B7evtwD7E7cSwOgA6kV0xQPsASyukXHWCfT4u-YaiLSJDP-kEZxwW-QljyDbgBS2J7upk_8Nfiiwtsi7Ernxj2fLgXQxdlmOfEn6NYhuCQvgIUL1_VVIPaF8GgzK3w17aQBn93WC9yqbQ58Yjrj6TsrzSFORxGzR1mG6GQJXoIIcRqIXLUMX5yu3re4-JfmLQukaLXSUWQGhCEA4bSH_rykMnMXfyoMQC4bc8b80V8IVDT9ZMRpAJ5zTScBaP23gJEneDVLegJuiYi1Defp7i7f7SXtQVb-ksKh6ulbkZSJfWNRyqoBQXHNzdFJMDp1mVNG3US78sl0iTwyM_mdRw4TiVVeOTaBqj--qnFo8wbcFGSUNRBKEYw1iMKB8IGPXXH2K3GmwmJWORkMahP0MyxXdAObLpwE1ujwDOnU8ZlGt_13WiNFElAvKP5aofDKlNrU_4AwiTbPxTiAHrj8AgCqzmgQP89hAx2E2vt7S-tIinCfab2w1vp_6X8qLdRpoa6cMCfJyOkZtQU42p1Pf0DOfwuzsy9C213Le4cPwlW2XkxwZ3wdQ5bHpD1DcTGjZhv-UMx_YAygvdfsMAifc_9VoS7eaMS9LBUXZuAtXpbnf8dLdJQF6qiN_F2dIImsEKxpJ_Vl7OeJFXkM2izCZab8_hJyBqJ0h5JnbcjhoI9wZAV5AcyHwzw0Zfdtlb8n1Cdt6rw3qOz0XjMMRsihPzfj0jzrPMBah1HJopMIjyF3AUAV-niG-vnilxzOylmDTc2SmU2GTQcAjJFxrK4yZZzfwPhPAhG4t-FT2rRfwN--CK_V468azqlorlg1Yd5jzotuuU3Wx8Hmm0-HZj1tLaIxQ2PTpUvwX7Cs_FhzJCkvGuD1cdnpqZjE1me_4VZTI9iDzfvt8LEXGzQOh-V40UFBZLpDCuddEZ2dStNXBfCCRVGLc4vRNc_8wT-r08p3UXVxMDaP7W_pdvvAXwLzQFWDHTa5DebH33FL3HUR0_lBXNY4qycQFTw1-Oqg755-6SA7_ejlteDbValW3SmTv5z5xN9vHi",
  "id": "rs_095e49b6a96aa3ed016ab431c2554c87d0a9beb0984d89b3c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.155,\"right_z\":0.055},\"note\":\"At rim height the bowl appears a little left of the jaw center in the wrist view; the right gripper also sagged lower than commanded. I’ll shift a few centimeters sideways to center the bowl before attempting a grasp.\"}",
  "call_id": "call_9HW5xeQv4GDSbnJ1L6hEOjwp",
  "id": "fc_095e49b6a96aa3ed016ab431c401c887d0b37f1ba1680a35a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9HW5xeQv4GDSbnJ1L6hEOjwp",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.63, 1.5497, 0.6373, 0.0704, 0.4461, 0.3088, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0008 left_pitch=-0.0149 left_roll=0.0016 left_gripper=0.9995 right_x=0.3374 right_y=0.1561 right_z=0.0478 right_yaw=0.075 right_pitch=-0.1725 right_roll=-0.0884 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -0.8684, 7.0085, 1.7216, -0.0708, -0.0562, -0.0122, -0.5538, -5.6547, 7.7744, 1.3455, 0.5495, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37207ff10949350e49e2f91a4d27cc85bb0ad51803ba23fc131670f1fa094c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdea78fbc8c74cab05fb9597e991928178dab330308846606448d540d6be816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa40e15f4661f76ec4501194154e1a3875634da59a04784e70a9500d3892780",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3813, -0.0227, -0.0269, 0.9996, -0.0219, 0.7921, 0.6018, -0.3786, -0.0158, -0.033, 0.997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1799 left_yaw=-0.0008 left_pitch=-0.0 left_roll=0.0006 left_gripper=0.9996 right_x=0.2946 right_y=-0.0001 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -1.4974, 10.1538, 1.7998, -0.0464, 0.0904, -0.0611, -0.5128, -1.3197, 10.2359, 1.9219, -0.0659, 0.1783, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.5453, 1.5265, 0.5758, 0.1234, 0.4225, 0.2687, 0.9968]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.177 left_yaw=-0.0008 left_pitch=-0.0145 left_roll=0.0016 left_gripper=0.9995 right_x=0.3401 right_y=0.1258 right_z=0.0412 right_yaw=0.032 right_pitch=-0.1707 right_roll=-0.0954 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -1.5385, 7.0085, 1.6972, -0.0464, -0.0562, -0.0122, -0.3624, -6.9949, 6.2974, 1.8584, 0.0952, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.63, 1.5497, 0.6373, 0.0704, 0.4461, 0.3088, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0008 left_pitch=-0.0149 left_roll=0.0016 left_gripper=0.9995 right_x=0.3374 right_y=0.1561 right_z=0.0478 right_yaw=0.075 right_pitch=-0.1725 right_roll=-0.0884 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -0.8684, 7.0085, 1.7216, -0.0708, -0.0562, -0.0122, -0.5538, -5.6547, 7.7744, 1.3455, 0.5495, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37207ff10949350e49e2f91a4d27cc85bb0ad51803ba23fc131670f1fa094c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdea78fbc8c74cab05fb9597e991928178dab330308846606448d540d6be816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa40e15f4661f76ec4501194154e1a3875634da59a04784e70a9500d3892780",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHHhnrM0s_DoWudHfisBHykkxcmDP8eors1uD6NlehSW2TZSDkLCWMn-GusyenAGXkqQt_Gs2-YEu2l4LkER9vG0Qo1HAldcRkmX6mb9EO5bHejIiLtF2PXKET2-hrve-eqes6ydsWXiQNTW0ymmFun9prL60F-2qkRvefGHsypizDM9Gm47v8bZGoa3jAUn7i9cggPmmTKRCszN5iR4HILvwcGch44We6GqARq-GiDTBTAp49sjffn0pxVvBKxxyH92Hwfzg1DJ9WhHURIEQfShR_idSOf-9GlUeI-MK8uMcBKdZVItAqlYdNMa3bnbpQW-Z-FFKkr9sbXOHg9PUHuaf0tVGy1Ggkgb-k0kZS5PDn19CFrtzFifO0ISTqsnXWCM5tFUYSMZBG6O0c_JKoekh9h_-vlXH1nhtZr0wrPBlkVKR_xAPkpM_GTX-Mm5PAmUu6YJuEt0s_oH6WsEtk6kPwpmmMXMHf-dTVMb49TdPv3kXn87o7UyDiqYrOTzsw0vUexTzSM2YNWyUh9-HqbAGcwH57zMm1twqgJs4A21rZm-gdNG2L4ZVdF2dAykRpP2oJmxaiF3teHL3rTje1QkiSopJlw3l1Y6Ve_2kEyZJ6REZW5nknsdHbyLodB3DLrcjmIWJos8RtSI0u7uNIpsE1ChfU4Ipfv6krnQ8NMX9vbt1FecEXr_gxJTc8kBzivB3Q9Ah97qPL-uQr9rbHswdLTibF0hn0MWX5nN7yxsWE9CQvQ6A31ouiYQ7hbRqxjn2_dwHBkgQcPWgNf1Ua5V5ci2ClE9PZeDTRbE3Knlj_vhILc_CYybsr5RK_03RtWNoN02fQMO1jnwSBRmYymyTo7akOch314HqZdRT5gPxDMVmkdC6MPy0jtEcS_ekogi8y1xNLmMeuPIPCi-EG7zPiGc2CzHr4dNL6CJtwCjixU2iLBMPTrVgQIHZekdwwxjXZy_7fe2e3K62jpyzZjNdyw3LePUXW1lOLTeIByhSxzkR4VIWV1-c3Uc4TxBnGtQZ-_eh2wolIHoD-K-7Ytq8XP5aN4Uj4RG7Tp_ft1FdNsQ4L3hLjfnXveKh6eaxbcLwrMAzy2kqICwtND1fLXZDSKVKegmIeT7-rCKPI2s660V22DfjrkcJ-uomERlvdsf4O0btcPOgmqJZO3A7zoew7QlMaQV2e6TgCOY65HBCG4KMbTg3DzW-C-sNNP7APIgbLFj02t1OAvei23REugoJOeBdMoigzFqREOmDiaA_aIpLTQDlXFxxo0801y4OgdRS6pMiAzGPMAL8Zrw9yDLMlN6B9QmhZzJR8Sjt3KTgOrhdKlEVssIcm5ufshVtAKADCPo1eGu1EJOHsuUFv6nMEE54hYYneVUI53GNqoYWMnasrmFL7uDJirReJf_lJ2E3UkREBK7-jR5HMJcZgXMBBoLvmoajCANxjWnu04XafF3NDLT5U9D3hEkqWQsUoxRfaPfT8gt0fNdk8nDsP4T_I1H31xUycdE5PoGkZucC9qCm7cyvyQq6crYUltGzVuWfHcn71vOYDmc0KRmOBwyRlc-mcNUfNbVHOtga8L2ts=",
  "id": "rs_095e49b6a96aa3ed016ab431c5d1f087d0af63a661ae9c8bfa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bowl is now centered between the open jaws at its upper sides. I’ll close gently around it and check the settled jaw opening to see whether it is actually held.\"}",
  "call_id": "call_YgATgwiLp6Cej6l2zTn4MI2U",
  "id": "fc_095e49b6a96aa3ed016ab431c68c4487d093a8e9a06b7b93af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YgATgwiLp6Cej6l2zTn4MI2U",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.6331, 1.5497, 0.6392, 0.0502, 0.437, 0.3027, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1766 left_yaw=-0.0008 left_pitch=-0.0156 left_roll=0.0016 left_gripper=0.9995 right_x=0.3341 right_y=0.1569 right_z=0.0449 right_yaw=0.0868 right_pitch=-0.192 right_roll=-0.0967 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.2786, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.3077, -6.147, 5.4906, 1.6581, 0.2808, 0.0464, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912fa83941a41c897c6034297896c40a5ff4e9cd181470cd9597da51ea9dd9f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb51ea66613fdae74ccc75084c1da584ef92dcf14806fa1f4ae4c22188c7e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5f1b7dcfbaa9fc74e301b86d8aa140a35cb781dfdf27d89341bab1ce71321c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.3889, -0.0227, -0.0261, 0.9995, 0.5854, 1.3067, 0.6739, -0.1055, 0.4442, 0.2893, 0.9968]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1783 left_yaw=-0.0008 left_pitch=-0.0095 left_roll=0.0015 left_gripper=0.9995 right_x=0.335 right_y=0.1353 right_z=0.1159 right_yaw=0.0494 right_pitch=-0.0853 right_roll=-0.048 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.6068, 6.8444, 1.7656, -0.0806, -0.0806, -0.0171, 0.212, -5.3675, 9.5248, 1.7411, 0.3932, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.63, 1.5497, 0.6373, 0.0704, 0.4461, 0.3088, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0008 left_pitch=-0.0149 left_roll=0.0016 left_gripper=0.9995 right_x=0.3374 right_y=0.1561 right_z=0.0478 right_yaw=0.075 right_pitch=-0.1725 right_roll=-0.0884 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -0.8684, 7.0085, 1.7216, -0.0708, -0.0562, -0.0122, -0.5538, -5.6547, 7.7744, 1.3455, 0.5495, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.6331, 1.5497, 0.6392, 0.0502, 0.437, 0.3027, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1766 left_yaw=-0.0008 left_pitch=-0.0156 left_roll=0.0016 left_gripper=0.9995 right_x=0.3341 right_y=0.1569 right_z=0.0449 right_yaw=0.0868 right_pitch=-0.192 right_roll=-0.0967 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.2786, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.3077, -6.147, 5.4906, 1.6581, 0.2808, 0.0464, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912fa83941a41c897c6034297896c40a5ff4e9cd181470cd9597da51ea9dd9f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb51ea66613fdae74ccc75084c1da584ef92dcf14806fa1f4ae4c22188c7e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5f1b7dcfbaa9fc74e301b86d8aa140a35cb781dfdf27d89341bab1ce71321c",
      "type": "input_image"
    },
    {
      "text": "",
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  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.195,\"right_z\":0.07},\"note\":\"The gripper closed almost fully, so it went into the bowl rather than gripping its sides. I’ll reopen and offset toward one edge to pinch the rim between one finger inside and one outside.\"}",
  "call_id": "call_R8MdV4LucF9hBvwxD5F4GAkD",
  "id": "fc_095e49b6a96aa3ed016ab431cf21fc87d0b8341a3dbe586542",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R8MdV4LucF9hBvwxD5F4GAkD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.0261, 0.9995, 0.7383, 1.5715, 0.7673, -0.1169, 0.4808, 0.3748, 0.9961]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=-0.0008 left_pitch=-0.037 left_roll=0.002 left_gripper=0.9995 right_x=0.3266 right_y=0.1916 right_z=0.0608 right_yaw=0.112 right_pitch=-0.2196 right_roll=-0.1074 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.7573, 7.3094, 1.8437, -0.0806, -0.0708, -0.0122, 0.1299, -5.7778, 8.2803, 1.4579, 0.3443, 0.1148, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b046819988a3aa17769ab2a3b3ff7d3e3216fbd8ad2febf4629afd5d31f9217e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a050cbbef10f9587ea6326a9d05090561995a412104da9634c9943904466fcc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3890accb51199db9fbe9a04e19a0b16adbbfe82e212cac51a985e6bb0224afa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.5453, 1.5265, 0.5758, 0.1234, 0.4225, 0.2687, 0.9968]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.177 left_yaw=-0.0008 left_pitch=-0.0145 left_roll=0.0016 left_gripper=0.9995 right_x=0.3401 right_y=0.1258 right_z=0.0412 right_yaw=0.032 right_pitch=-0.1707 right_roll=-0.0954 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -1.5385, 7.0085, 1.6972, -0.0464, -0.0562, -0.0122, -0.3624, -6.9949, 6.2974, 1.8584, 0.0952, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.6331, 1.5497, 0.6392, 0.0502, 0.437, 0.3027, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1766 left_yaw=-0.0008 left_pitch=-0.0156 left_roll=0.0016 left_gripper=0.9995 right_x=0.3341 right_y=0.1569 right_z=0.0449 right_yaw=0.0868 right_pitch=-0.192 right_roll=-0.0967 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.2786, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.3077, -6.147, 5.4906, 1.6581, 0.2808, 0.0464, 0.5739]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.0261, 0.9995, 0.7383, 1.5715, 0.7673, -0.1169, 0.4808, 0.3748, 0.9961]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=-0.0008 left_pitch=-0.037 left_roll=0.002 left_gripper=0.9995 right_x=0.3266 right_y=0.1916 right_z=0.0608 right_yaw=0.112 right_pitch=-0.2196 right_roll=-0.1074 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.7573, 7.3094, 1.8437, -0.0806, -0.0708, -0.0122, 0.1299, -5.7778, 8.2803, 1.4579, 0.3443, 0.1148, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b046819988a3aa17769ab2a3b3ff7d3e3216fbd8ad2febf4629afd5d31f9217e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a050cbbef10f9587ea6326a9d05090561995a412104da9634c9943904466fcc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3890accb51199db9fbe9a04e19a0b16adbbfe82e212cac51a985e6bb0224afa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHUgAK2YtxboAZ9_8FJ5HHvvKkYRnyPD9ksOF1QIknRfL4D1dmo96PxyalUIyWzwhCn9_YlTC8TyalB1yGMlDFVf9oQXr9EfF_q5gjZqXaj3uuAcRSQITl5luddm6PE_-TNxk6DkLb5c1GM4uH-iRIhLQhX8hsh6ELGt5qz54nS2eb1sol0HO3WMWxjQ8sYz3bgjNF6_fU4o_2xnN_sMvJX7MkV6MVOs8hrDw4UqvV-Iz9aHmxgtrPVCtv3H_Bbp3k3sE4Ojt7DKkpk5mdbuqczRjaiPtVe9NbBScMvuGLi8xufLWF1SoVsdL3RmBtkxpkeC83uehDUKaSY6jVUHmCH0eFYIG8HbYmX96e55b8ay2ou4RC7Tig8oIT7HMzKqc4S8Yn7ikYfA1rnLvtJh9-PQQhQR6QQXTGvTNX7FdDRoinVH8rFUlJ-m48dlGMD4AS1hQaKEe4xoIdPsddAaI1nh3E_JJ3AQ_Aml0hfHcr_xCkTQ3YaJ_zKhpCPLvqMlRKQgODf_Hbg9pXLCRULaAnFRNVlqoZ0AnHo9RNU6QbJ_5YEikoBthpc62ctevZwvXhfK32ZF5j9xqBM9mv00Z6syoclHWBeDzh3_xt8GhnpwLqQm_retupysYO_AMOzc8YdAMne9fxcd4w4e5YAPl0MG9hyJ4SFSnUdnYoaG6qqpCYI0x-dqszGS16rItc1tdB-9MYmuwFrsYiOFNMMbWfQ4XxCS8ewbjbPdi3Kq3-Z0hcGPumcMsFPoYCb9rs6lUWAkVse9RLsLIIDWzdCfnC_x4fZr8oMckfLKSn5HqJV1BG9QpWBuOww5oG41XIcSqV56bGjsL8N3j22_yVWOfp-nGydmNvRi9VxFW9-TVk9Y2UbdyPWR_pG4_q88rPOVGwEn51O2HPfZX9u-KhlX4PBLOi_xmdOEHQc23WwXge5o5P49qyberYEGwbiOE5CG1C-RLcOecAgNeFfWHIazHda8NRdQ0zMjtHHXlM0OJ6YiXe6qEj38ZKDFHwmixPkpo_V3339HLTFu1eIhzsgYtBEeZqnitPdm453Sv3fpnZCWeONU-0Y1VoYUkFEuj3R9us6bt1eBFQHwP_XFaKfDsrIkzamnPrCA_gDbk-u-XZ-dmFK-_QFTbij2VNEFjTF7xx6m7aFfaeDtlXQt4Ui1EjVLr1NGeLfiUzEomVOhruLGNBYAaL84ttgXQUKz1qlgRzigJiUBwF123GGO6IOBpNTjZLwf5KJD0Q8fy_tyGpYm0WapiiBSOOlH1EL64vwN-LBgf_8CvdaUrZFAv0aMP3KUkvNtTMoNFY4-5H5uwTDLRRpDm8X8e1-V58sFr9_tIWBXwB40Lyhl_Y5Leg3Oa95zh8_Xu9aEcahtzKDGskrsNYV3mbTfc-dyxX8EehVhKSbW1M_abe7ZVd9_SPrnLilcr6BSkyhvMD3tWVx6bp37fT-AQe86XXTqo4_9i10nA2px7bEdfYmSKnd-OUoRieellu42B52zNm1T7Vc71WNZtVbKfatrR1GLyvA92yBK-NPTpSRhOh4epQ3V1LVLSKGuA2v4f3PO5PMgnwx4PmGZDQavpbls86gcusATz-npRb1_orWXY6FSeIhj-qlM3jDFcmDVu007rgBR9htZXnTyuT32_4jgTEVnQlFXdEKVIFwrxpwEnpvVE9PAOP2uXX4zTQjL_YYoGlhgkBDTpXFX7SaTRnfHEaU0u2sT1Ep7VONYbxJ-y9DkH7kBHtY6VXmiAjxWsOjoGwxDSygmBnOntDH7nXzJG8bIkWhI8JX3x9DrKXS9tQM2qR9MscbIBhuGoMqauVo6MJBRVs0qGMPt5TbwQa-YFa_wlnbGF6d6OB59p-HCm_X6e7nKzaRqOjv1Pn8RUd5Xy78bzTl6DoUrSveFFCLTpybJllCs5Oncw0qI6Yk78fTp9_RabyTt-nFbJmFvvnub-GgmLa7AM6mNTLU4uzptrfaKR-sVBj7VXdIdnbDJe8iWgb-DUe4WOJcbQxkuiNCrqE028oymdG7NhaWU-jVJie2Eo7uPkrtNHaasMLVcrVfYlxs7M1l7hKa8pO5oZeH1p-truUesJNfG7LJ93DlF0T5nouz0V074x0bmRKl7xTBgiXATthP0koXp6gs0FPtK7MfnhC-HopHeX10xY3pG4WSWOk2kXCARtTMTePRPDuBnVHeLe--uFPQxsmifTfJhiaQ8cTqeyDx_b3WTsMEU9DiV-c_XLPmCb_QhviOs65ZYZEPVU9DlNtA6egYn3Ak_dWBZrsUjCUVDUs9xTuoLcYk1AsQRPwqOEg9cvsA-UihMHh0b7RRRYgiwlbeQxd0yPtobPTgcdzNsnYUkDLCKF5PY9hbQ4j6JjJO1OVL7JVDc7RRYSfPQlODQMDbccnK4Pui3P4EhxUrXaP5iiz-JZ9S6QDRfkwOsPaigyv90HeCNqAeu64ouYQX5byMGilu9MZEoJnPtLxHon_aL3iTYwXcPQcDZ1L3w8n3",
  "id": "rs_095e49b6a96aa3ed016ab431d1cde087d0aaa73fedf3c1fca0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.218,\"right_z\":0.045},\"note\":\"The right bowl’s left rim is visible beside the open gripper, but it is still slightly off the jaw center. I’ll shift toward that rim and lower a little so the fingers can close across its wall.\"}",
  "call_id": "call_anG2htKeEj6g9HNOj0CWT8Dq",
  "id": "fc_095e49b6a96aa3ed016ab431d41edc87d08aa6801da78f1af6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_anG2htKeEj6g9HNOj0CWT8Dq",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.7952, 1.673, 0.7872, -0.102, 0.4969, 0.4065, 0.9962]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0404 left_roll=0.002 left_gripper=0.9995 right_x=0.3183 right_y=0.2095 right_z=0.0348 right_yaw=0.1297 right_pitch=-0.2629 right_roll=-0.137 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -0.8957, 7.0085, 1.746, -0.0708, -0.0415, -0.0122, 0.0615, -8.0205, 8.4034, 1.3993, 0.4615, 0.1929, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fd2b04eeefee6657b4c62f8d66fecb528f5be38c29078e801e4c0cecff0a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3703d247df73b045d0b348732c77fa629ee45798723c396a531036a3aeeeb70a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8ae079e12cbb7d39db9200738ba91a14d729662bd620b9210a8119d021d4b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.63, 1.5497, 0.6373, 0.0704, 0.4461, 0.3088, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0008 left_pitch=-0.0149 left_roll=0.0016 left_gripper=0.9995 right_x=0.3374 right_y=0.1561 right_z=0.0478 right_yaw=0.075 right_pitch=-0.1725 right_roll=-0.0884 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -0.8684, 7.0085, 1.7216, -0.0708, -0.0562, -0.0122, -0.5538, -5.6547, 7.7744, 1.3455, 0.5495, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.0261, 0.9995, 0.7383, 1.5715, 0.7673, -0.1169, 0.4808, 0.3748, 0.9961]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=-0.0008 left_pitch=-0.037 left_roll=0.002 left_gripper=0.9995 right_x=0.3266 right_y=0.1916 right_z=0.0608 right_yaw=0.112 right_pitch=-0.2196 right_roll=-0.1074 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.7573, 7.3094, 1.8437, -0.0806, -0.0708, -0.0122, 0.1299, -5.7778, 8.2803, 1.4579, 0.3443, 0.1148, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.7952, 1.673, 0.7872, -0.102, 0.4969, 0.4065, 0.9962]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0404 left_roll=0.002 left_gripper=0.9995 right_x=0.3183 right_y=0.2095 right_z=0.0348 right_yaw=0.1297 right_pitch=-0.2629 right_roll=-0.137 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -0.8957, 7.0085, 1.746, -0.0708, -0.0415, -0.0122, 0.0615, -8.0205, 8.4034, 1.3993, 0.4615, 0.1929, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fd2b04eeefee6657b4c62f8d66fecb528f5be38c29078e801e4c0cecff0a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3703d247df73b045d0b348732c77fa629ee45798723c396a531036a3aeeeb70a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8ae079e12cbb7d39db9200738ba91a14d729662bd620b9210a8119d021d4b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHXxB4eGNfRqcKeWeoPQ_o1YapfjNhZ7c6NjAbtIC_6kn1Wj5UslEoUZtWCkm65qzGlmMttW8PjbL5SYEDBJvOIO_f_HKCYYpztKAE9VSNMrTLMFbJl_M2lbWtLdWEp2NzgEYMIA0R0coDlb95d_h9wDd1v2SwzgQ4jEw39A0zKIIzPTRyAtMmQZBMGfaNDzhIH13AMY4SOqrOCOlDcCZ7g0r7zvHLywKvuM1GDBrC2S5lHkl_EU7ioXDnp0mqvGTZZY5uAVNvCMzHHjLhNZoopx1YgoWfznh0iF7hxwO-d9jFUXJAXFDK3KYmtSNiuuccmIm2FQrHaoY9wTBuew17v-YWU6sxqNe4PdPBhpt3zMTkFEP7yJAACN-GDdGjiYGbYTwXFFi23zrc9Qs5bTD21ObQkobRfxcQLIIKU-bmJk_ocCfpdgMmfYrPvf4nAXCTeGbScKYrOe_IKPFiZwLvc2Rbh33uVO321_OW294pOlA0qdlJFObMFgcUcpsnvvYoet9m3q5n8k_D8rhFCOPrAckpDDU86F2kkfM8kCW8HzzZDAGqVJdRFzxFoiEYSHHjM5PIeoDO0JdfmfGZgUcofEoicIqdrf5zyY8bM92X6apb9VmFJasNQeEzuHru8sBHCPUW8K6ml0NQ-oqq5HA3anpI5ROrkyHevxYtj5w29QmzH7GYSSrrqnURNiBOh2F4QBXZ5KgS4Vlzu7yo5-DfEmvBZMSKye6Uqqa6HD5HO_7Y7cHUexRJ_d_q19HyYoTvASP7njb_PDH7TpwqarTZN1z3unQbBpkcgIC5EexmoNUkoUPcPD-4kd8B6WHOaVahSOFz4ndCDhCQTHxGEn4_GCoO6LT7Or3_mVwM77-hm4fo909iR8hls11ul0qMjvN0tP_sMh8i9BrVV2qVSZ_2pJOIRRFpAQI1rO8XgsNexYl9_l50FTyERfaTYe4uREanA_fpOKJM3J9nM82G6od3N2u-ekKz7f5ipaQSMl1ep5vtp42Y12NsfRPB8Lm1MNjRvzMdkf4NB_ejJRcUMUrVOPA2exx6BDNQYDNeKtdVLps6fW4QQsAbEvygfyXS2JvdidP2OKxDVaHowfQfFbVtHPl-itb8UASS6mH81FCTRNXvrNWeYQIqPxTBHq19D9gBmsMxsvbqSprn7m0hFXPPUBvyiroI2Wq22Jq88fTinP4SoqIeoDIdJJPMc0BOmKGj0jIqqQAp4oZtUh6TFNGA6n-iV6RKR6-50vhdBG0MPMYbIBVr08ukZlqkdnH7z7WGuoJWt1GdW18e3g6AYF3E6WvfIpEKP_EF_5tlGmAVutm3OoJh1OCvmrWEvc5hYytKeyUqJ8GsxzySw2_peM99xeZzr6pLLtaXSQlKcPmvIeVjDERl6EbQSBzceK1Gy9sPZNAwQVvttzp3zU4pXWs2uvw==",
  "id": "rs_095e49b6a96aa3ed016ab431d5e65887d096e5e904c720a354",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaw center now sits on the visible left wall of the right bowl rather than over its hollow center. I’ll close across that rim and check whether the jaws stop on material.\"}",
  "call_id": "call_uw68a62lImtpTU53NG1kuvCa",
  "id": "fc_095e49b6a96aa3ed016ab431d67d3487d0a0491547757ef402",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uw68a62lImtpTU53NG1kuvCa",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0223, -0.0261, 0.9995, 0.807, 1.6901, 0.791, -0.0982, 0.5117, 0.4229, 0.0189]\nstate[eef_state]: left_x=0.2925 left_y=0.0018 left_z=0.171 left_yaw=-0.0011 left_pitch=-0.0408 left_roll=0.0018 left_gripper=0.9995 right_x=0.3175 right_y=0.2116 right_z=0.0316 right_yaw=0.1202 right_pitch=-0.2612 right_roll=-0.1417 right_gripper=0.0189\nstate[joint_eff]: [-0.0205, -1.2239, 6.9949, 1.6923, -0.0171, -0.0464, -0.0122, -0.4718, -7.8974, 7.5145, 1.3748, 0.3199, 0.1636, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07de1b580c131f9733509f2904932dc32e99611f4636fc7c1f11eb83257c49f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cb0646ecd13d0312e84d97c7aedac9c7cc1a8cba76c2c832ec95821fa5812b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e863c79946997ef99378a8502f097c0759de5fc785480b0537dcd0d5c807ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.6331, 1.5497, 0.6392, 0.0502, 0.437, 0.3027, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1766 left_yaw=-0.0008 left_pitch=-0.0156 left_roll=0.0016 left_gripper=0.9995 right_x=0.3341 right_y=0.1569 right_z=0.0449 right_yaw=0.0868 right_pitch=-0.192 right_roll=-0.0967 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.2786, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.3077, -6.147, 5.4906, 1.6581, 0.2808, 0.0464, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.7952, 1.673, 0.7872, -0.102, 0.4969, 0.4065, 0.9962]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0404 left_roll=0.002 left_gripper=0.9995 right_x=0.3183 right_y=0.2095 right_z=0.0348 right_yaw=0.1297 right_pitch=-0.2629 right_roll=-0.137 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -0.8957, 7.0085, 1.746, -0.0708, -0.0415, -0.0122, 0.0615, -8.0205, 8.4034, 1.3993, 0.4615, 0.1929, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0223, -0.0261, 0.9995, 0.807, 1.6901, 0.791, -0.0982, 0.5117, 0.4229, 0.0189]\nstate[eef_state]: left_x=0.2925 left_y=0.0018 left_z=0.171 left_yaw=-0.0011 left_pitch=-0.0408 left_roll=0.0018 left_gripper=0.9995 right_x=0.3175 right_y=0.2116 right_z=0.0316 right_yaw=0.1202 right_pitch=-0.2612 right_roll=-0.1417 right_gripper=0.0189\nstate[joint_eff]: [-0.0205, -1.2239, 6.9949, 1.6923, -0.0171, -0.0464, -0.0122, -0.4718, -7.8974, 7.5145, 1.3748, 0.3199, 0.1636, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07de1b580c131f9733509f2904932dc32e99611f4636fc7c1f11eb83257c49f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cb0646ecd13d0312e84d97c7aedac9c7cc1a8cba76c2c832ec95821fa5812b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
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    },
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    {
      "text": "",
      "type": "input_text"
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  "role": "user"
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  "id": "rs_095e49b6a96aa3ed016ab431d902b487d084c75544b529ef6b",
  "summary": [],
  "type": "reasoning"
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  "content": [],
  "encrypted_content": "gAAAAABqtDHhZQlhtWzem8eEFnecZmpGYwixKMspKsiLTSuq8AyBfnPNXGM1lKCDbKRVnu7X_ZHrxJNjzMfkEc4foDJCl9oKkW8x6O8E8PJvHv0wvbzCcsxgUtKEghT3_O3zPlOvH4caBCQve7RlFPy50BXZh1bGid_rPwLMW4PvtFpVm3zIcdC83LAbjbfr7wGPfxGgI0Fed7ZhSOk-Lg6U54juZhbLRfr2shNM8uX9ybpPoCAFyyH4BGXws4sw3qUIpj-M-t0QUyfEKZS5J2vzhETeT6xIA_dUXfwm5-CIW9adCGGCFsPWg3hI928BlJy-61wVLxbyCdC32iDeUNPztKan4SH1Du8GUYtZAqTd3qtYhEPZDurpXjytEJCKKMja-z26jYoqzqhK8TavzHaQSN56kmNJt0xyvQy8x4qhbEcRcENITm_IxUgj3d93SGSda8rHSSN-_QC3ITu46C0BCliTiY7_QtUN613gAXDEt_vuNYKsmGP8p4nCEQJnRREnSHFx_7_e0GQnAuW_fKjov5WlZMl9ablbcKKcaMAj-HDZYy-FAq18YWWts5hJDReVcnl8T_jyyxgtjdPfC20iEYtkAGsy1O2i65aJmkhKKDvOR6mHJpPIUoTyeTIynCZ71qTVBSonJPRFtETjjj75zEAPOGZT2sEHxnz6OQMA-1ATfiqU_Gjc7FZWl1-UpyZImJH3YgTyACnOujesxkDX3n5XjBM4UgAivuG_GrQEhOnjbb2kgyrQ0-ZW8tBVzNZUFZ7VJmqys8JLWz25nNRglFshGQMDS0p7J7h0Zsj7zZV6vznMEI55-s2Pb8hycTgEns2l14hpceuXut484hHQtROwUHtPdmvb9A7X45iG5_8TCl83mjPgR3O4r1E3WdMwyM1Q5nh_d8p1ZvHMXpv5H8eetHLqrm0IN9PD6ENhTwHjekub9EVoWIu7yQyBYpOqh0bnvDw2JZdvZxzM6Ibl-vMriiAZPdVS1et3Lg1iJMJIw2m-kGLcwUGl85gnqjjswFrBZshZeVV471zX5ozG4xTX-AB8vaNO4IqBL2AASWT5bkn_QXJL_2Tgc09Sv1imDHiRvTbeO1uSadQ4AYYp0zDALE8D9oiNxpVHjvV92JeqIJ5RRZhySYPdFFLkEiax-PPeV6E6TVXTF5KbTkJlXgxX1vXeWxLtInCKUPJaIkanrhq-LcWqSbIe-I2ub-b9UcAXkQ_78tmmV92stx-iXf9JnOnt4Acr9uaEWRw9lgh3e2VEvOiA1y0aN4zQYLLqwQHw7jQceI4zRLV2VPb00IIwecVlM-xP7N7KnJFF_iqDDZHH9hflmWmlugtmfcpRzUE4nMKCCpv5C1Hxu7DnfF2kFBp9RaAt-lRm_zu78tmYIdnqgMtqKnbN3Pt1DCq04gTz8gyaCpBAmppeOyvznOKLpUewJ02pf_yAI_DZ0nbhBCaQS4JQo1mjwfleBWUYkLTpDRqlzzvYxanFU2iLCvYtPWWrQ_YMGdexlSfCezv3g-0zueXmWrMGItaFyGdc1OM9RUgfltOt74dBGIq_y-zlIj8ixHurDqTS-BN0aTEKxnEgqzYxpevU0hqHZ8QALdTeEiWVQ4plQTGNFNWnCBbkAqouel4SSJWZBHYkKTNHSIYx5XeScsHU3adutMFheBUhU5F4kMtx85n5w5C_jZgGc33uo1XMMz0lW3ng5xPQoB3OaZVCJ0tmljkYulcC5rcbu-IrHqhkZuGx2z-lBN7-mYCqSBguGfGTdEy_C-kv6T_5mQciCVqmJwXsw8WL7wt6vF41U9gmOm3RH6hzseMJlkQj3xyVlm798axrl7rUywxsnC44vKtNkAna5Hf3Jgy-oP7zqZGLDkZbAWSxsTcOnnxo2QCSVh9IUhJC1HdZpjr5DHqQoAwA4D3i2jtIm9CCb195se6vV1My_RZ3eurSSnPjSAsuC-EtCKnmzFS8YpLmQB3rddisiiENs7stl5lBWX6gs1SdOTUh8lnExMTyv0yXZme-7rXOgKBitvz7lyDD88UrhtAA0Bspb2ZQD70Ku9hJzgiMZb8kdrSfBlnomAfLficmdD1yKpNnozrq4nBlm0so9CEkfPgg4c0VNA8VI83XXOxg32d8GHAgTvWVEsVs69KReBru5xGAAMsESFFnLWDbhEm-PmRtT2QFadkfLITWluD_FV2wp6KK45frf83A43kQNUPbKpy8UYzRHN3eKKSSMcDJUzVRDV03Qh_I-pUg4Ac6dfbXsFNXN26frCSJQn-d0Qjb0Tv7xeiURNx8NysWonMFg5Z0-dkDwfZiHGhA",
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  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.39,\"right_y\":0.155,\"right_z\":0.13},\"note\":\"The second close was also empty, and the bowl shifted on the table, so the fingers were contacting it too far from the intended grasp. I’ll lift clear and reposition above its new location, farther forward, rather than repeating that close.\"}",
  "call_id": "call_1EWIuxFUMSl66fMr8RBzMfWg",
  "id": "fc_095e49b6a96aa3ed016ab431e0305087d089ec307adbbfd904",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1EWIuxFUMSl66fMr8RBzMfWg",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5209, 1.6108, 1.0447, -0.3786, 0.3496, 0.1761, 0.9957]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=-0.0008 left_pitch=-0.0412 left_roll=0.0021 left_gripper=0.9995 right_x=0.3821 right_y=0.1536 right_z=0.1039 right_yaw=0.1042 right_pitch=-0.3077 right_roll=-0.1637 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6679, -0.0806, -0.0513, -0.0122, -0.3214, -9.9761, 8.8274, 1.37, 0.0562, -0.0122, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94be201bd209783c2fd66009adb975b04f1c9d1327c1d05aed32d20797e7eb93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ac0daa1dffce34103e09d65a98a5d76bb5a7b33d420ebf8ceb88fa4abd9dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474e8c6a81ca37a38a4a59e6e930188593776938fabda8853fbe695a85dfef72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

message 32 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.0261, 0.9995, 0.7383, 1.5715, 0.7673, -0.1169, 0.4808, 0.3748, 0.9961]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=-0.0008 left_pitch=-0.037 left_roll=0.002 left_gripper=0.9995 right_x=0.3266 right_y=0.1916 right_z=0.0608 right_yaw=0.112 right_pitch=-0.2196 right_roll=-0.1074 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.7573, 7.3094, 1.8437, -0.0806, -0.0708, -0.0122, 0.1299, -5.7778, 8.2803, 1.4579, 0.3443, 0.1148, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0223, -0.0261, 0.9995, 0.807, 1.6901, 0.791, -0.0982, 0.5117, 0.4229, 0.0189]\nstate[eef_state]: left_x=0.2925 left_y=0.0018 left_z=0.171 left_yaw=-0.0011 left_pitch=-0.0408 left_roll=0.0018 left_gripper=0.9995 right_x=0.3175 right_y=0.2116 right_z=0.0316 right_yaw=0.1202 right_pitch=-0.2612 right_roll=-0.1417 right_gripper=0.0189\nstate[joint_eff]: [-0.0205, -1.2239, 6.9949, 1.6923, -0.0171, -0.0464, -0.0122, -0.4718, -7.8974, 7.5145, 1.3748, 0.3199, 0.1636, 0.8816]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5209, 1.6108, 1.0447, -0.3786, 0.3496, 0.1761, 0.9957]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=-0.0008 left_pitch=-0.0412 left_roll=0.0021 left_gripper=0.9995 right_x=0.3821 right_y=0.1536 right_z=0.1039 right_yaw=0.1042 right_pitch=-0.3077 right_roll=-0.1637 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6679, -0.0806, -0.0513, -0.0122, -0.3214, -9.9761, 8.8274, 1.37, 0.0562, -0.0122, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94be201bd209783c2fd66009adb975b04f1c9d1327c1d05aed32d20797e7eb93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ac0daa1dffce34103e09d65a98a5d76bb5a7b33d420ebf8ceb88fa4abd9dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474e8c6a81ca37a38a4a59e6e930188593776938fabda8853fbe695a85dfef72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHoQDUhacPy1vQzh78Y-MyNRfTIyVecHT92W6p4YJfwO0-6e_P4_nt9LOlzd96MO8zkYKdOJ8h0h4YjFKzj4Qc-kCdKnRJZBndUqjXYLctrgGodjzaifqoUwA6FkZWoZizrfk7OsCbS8blfOlDixSZ58ALEHzyx_vH4G12pOjn6qcUjNYsEOb7ED9rBB2SZTVDa_JlyVBBwtCi2tNDf9lYc0oBlZMBERF_e8m4f1TYpX1Y7ZPEWwesS-Zkc98tb2uLklnhcAdfxjBnmR2PdLxzaMJvKpLhzN_GfAEWqR-XLibWeXdwAmRDPsPvsxODSlwYxrrBgdKxS8hEn0YStmf9AfI3lia7rFwJWxSeyj84f5BhYxU_y6yeRy43EyFAWJzZprk8wj8Qmfnb5BYC7w6KxpNLqJs4quxkdfCZ5qfQvo7LQFMgkIKehxhju1LABZC-BYP__xJ8l5MLjATc82VWxkh83e7dDnXBmyKWZrGxCm51a_EJSXfqPix_vkbPkWYcMZ94_Rf8vyK29qY5hRhe0Gon5EvNSay-2e7Gc1H15jFQ2LAos7D9kSJ-KNpj6FL2qhLgUDPRrvqsEC0ypNQHuEqSbma39a16XBTrGP6YAl7HOUrhj6jbBdi47yvDb_7nlnQjYYhPe4YjrcZO9K-dwz2f7J4yA2qOzzdrGEGyUtfeNm0iMSSwsJQg0_R0qcTyUnmSQAtNRvwiET1MLTOfiqVopr5L83awq4mR2E4YN8jaASChVKR4Oo0q-y1axU43fl7W406uJrlolFTTZAXAerQ0wXzljmlV2RUegZMc2kPEJHAfaXQtAB9rUB9n-7NbQhyoq6kWpRUm1PE0_F1FsTvh3QHTQY82h77hj-K-D7OUo2zYwLbf63_1Db3f17raF53DtSoA9PodujWqBeQ_9ICdZCHlkTqNUlrPzr2_esJACdmKZcK3gGxt11Vltpm3T1L-lvlhDxWuV44Fa-8Adj1h8JlfBgQCwICDwy1X5DalMDrukZQO1feiXFjiBqYwOOxslljfAnPqf1Ey9kop2tA_OseeTQ4-P7nF4RIa95GLKhgpL5PjYtqaw2Mm7GcHrvNbtwGj3AcdaVux4w2l32NtYgSb_3z4nqkRMVxdvmIgD0GH5XNtBDe32fZaEuavSPNUgrgY6i8vqvP2ULtByLbyjwJe1Hp2_n3KsQMgbYa3rCGWz3Ye1vERkEn4vP-yW_1gLAo59nnEAOyFxuYu0_PqVua81VZ2DmWbZo2La-haQAwpozuNk9RRrkVKL5wK55FzKICkqbBivI3wS2r1ZyicE5wKT2_wsrnbz8xQemn1BbCaZSpgAM8VC4SMrpzldNULyeAu_Fafnd1dEsgzcBhMmmGxGpwQrRlz09viZkt4rpYOQBrR4mnXBGNO84jtU85XXZNC_JfI2s3LbTQWnuy2mldtg-q18uZoRgEGZxUFbRSWEGNmCMvHSZBxVhSchXVVglSLNdY43C_CISI8fwHjQ4eJQcZbdTgEHbCfDGp9V4wsUdH8Kh0xS83ptuES-elph-vvLLqqx0FdvJbjg-DAllvSF8IO2o6aH_HRL6P0NXQ949GJswJf8_NYTgsbfa84Xd5I4McRNbpJIuY6OZNVTby5k-4g_e8L8BLJWn9S7QLb1_0cYS2VlUaUlRp7Kf9N1gzxWC_InIO8aNcKy6VleQ1FMdIdzSojTLFK79DFGdGyL7usxKlwWFLRouvV5UNmbrRnfcozt9ou0jjMOHKj3x5BwFI2jBXtAbq2m8GQlCmYnr0NeQt3ZNYMw-pDbUOebneE0ueXeNamejKFY0OWD6CzMJ9HKa60zGjuStX-LBR9GSA6UWBKr7NLyfeAVw284y27CZsKGHA2ioZbno2ZIZODlecblnGfBLjlY45tY6lvk8hLoaNJiobC345UzBwFvd6VHyHAUJb5xi1_NVt1jYVnswadSpUkHA3oS7Co9mFdKDELeTt47_lNEmYC5XDSoi3Vm8SqOBazZ6Lw01TWHp_ymdU5ODzf8fWYMwOJTwpDdCNyFSosr2BxXSsBaKaZka-LDT-e7DJLMriW-4QUiBnhXngAYxrM8IJQXASFbGMOOVgNNBMYUaD-x-j_DxbB0r_Bf81XVL8SDc3cv4B9WT6ABzhQIdQM6chQokUNOGK3hrWAc2UBqMCfo9z7fDnTVqDf2m51Es9K9hFQyRzjCzG2dJUH7XEI_e5s70RHoA_LeUnYc7NomFyIjWmYRUDB1JFTVAnIKE107KknFNDS7gtaCMK7ZUQTa7NyG0dfyW8x3L2iZvjWs8RwvpUKkij4ve0IdNg-vwKrbhxIlh6ink720yH0BTSUnkbO6MG6PBzr285ejS6pE8q2A5Qjxq2nWCA-Fl5LEf4V5J4SDptQ1mrLc5L1uPD0EVv_p3VNbLmqlYG8lVyQkHowrzUFgQ45VDevF3mfvP1WBJKyzfKFleYb98vsebjZDhl4GquUL8or8uh4wpP--zQ0ICM1fO_4reQpvGyvcyjo5Xm2Ylm65-xS8TSiBybj4pfCaDt3IUnX7pOSXIUSN0YaNL3hJ5L6bqJidj24oH4Io7sFVPbjN2gpkBBXKzcdp4qJjrO0Ng3a1kWJ9k_H1-0ggSdu9a_8_qBOdLhc1fyHZB6nxKq384GqO5eQWPUOc6fgysqRR6bwgwrUUSo0VKd0Jgo0oWEOkC4ksq4bH2Q4wrQV25iVLDeydCJhlxybvWs25k0iW6tguGEaVIRdlvnrVQaRwWdHtqj5o1fLHK92rjs8t84IGftAR5rw305Oc-_uDm6hWT88KcfDBg0doirXueJcPJd3dYqTkPIK-4D73XtLpISf2GYABpETnBZvuE-zViPoRoWr4V8T9FrfB37lscSqGpYexn0qZSL8ksDfhxZD8M9Y_8_rwLQOHZpOCU10GobTsBXvzLh009kKhVPgb4GNoT8qT54dplXU2MJYXvladAEVegXfk3-7medveLo3TN-7RHkct4rjIgUUg7pT2sADDhej5bI82Ny70vJOklTnYbbiCqerpJIAP56xIUl7lanNMLPatrdPSuyVipV_jNZBjRIz9VRMabiDqNgKV8R3aX_prcpNF5I97z7obKFWNIBGcmF5u-5K9KFADdL91b-viYauDSoKqjeY9M6mQVVq8HBOd2jiM3BQ8bSf7b1T7mc6DevuJsGBOs3zYslbw2tdcSL1cHi4u8yRWSOXe6pC4NXdvQYDrACdu8xGVaJM8jQaTtYvOOUzn2QmwMKY-ygbbg0AH-eMXNp94rToVfx0BqyvPR9lrVZXpTQKmf36QwJmoNEbzPHSnOSWb_cyfDwXImIRqG9MBNtZSWMaBxkg3xabOHFs9zKW0yKot25K8B_8R-GlI06ko_rlyvkSAepcR",
  "id": "rs_095e49b6a96aa3ed016ab431e3450087d08fe76e72c3e2f9e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_z\":0.05},\"note\":\"From the higher position the right bowl is now centered in the wrist image, and the earlier grasp point was several centimeters short of it. I’ll move forward as I descend so the jaws reach the bowl’s sides instead of closing behind it.\"}",
  "call_id": "call_norzngWddpO5phRk9CAgf1vM",
  "id": "fc_095e49b6a96aa3ed016ab431e76a4c87d0802eea1ec64cc7d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_norzngWddpO5phRk9CAgf1vM",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4778, 1.7973, 1.0294, -0.2379, 0.3241, 0.144, 0.9961]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1704 left_yaw=-0.0008 left_pitch=-0.0431 left_roll=0.0021 left_gripper=0.9995 right_x=0.4011 right_y=0.1484 right_z=0.0418 right_yaw=0.0919 right_pitch=-0.3753 right_roll=-0.1893 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.4838, 7.0769, 1.7265, -0.0806, -0.0659, -0.0122, -0.1709, -10.0855, 5.9692, 1.5897, 0.1001, -0.0855, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7941f5f261e6cd6ec1d513750ab9a319488c61fbfa34702e77acb8465a6894af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb0a7bfa758b96c0596be90c66369d7898b21f59ecf3fd8ad6f73884456409b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e035b5d6c62fa303afbee53324ec32b0facc8b8c3818c24ce7b5c20998335350",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 37 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.7952, 1.673, 0.7872, -0.102, 0.4969, 0.4065, 0.9962]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=-0.0008 left_pitch=-0.0404 left_roll=0.002 left_gripper=0.9995 right_x=0.3183 right_y=0.2095 right_z=0.0348 right_yaw=0.1297 right_pitch=-0.2629 right_roll=-0.137 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -0.8957, 7.0085, 1.746, -0.0708, -0.0415, -0.0122, 0.0615, -8.0205, 8.4034, 1.3993, 0.4615, 0.1929, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5209, 1.6108, 1.0447, -0.3786, 0.3496, 0.1761, 0.9957]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=-0.0008 left_pitch=-0.0412 left_roll=0.0021 left_gripper=0.9995 right_x=0.3821 right_y=0.1536 right_z=0.1039 right_yaw=0.1042 right_pitch=-0.3077 right_roll=-0.1637 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6679, -0.0806, -0.0513, -0.0122, -0.3214, -9.9761, 8.8274, 1.37, 0.0562, -0.0122, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4778, 1.7973, 1.0294, -0.2379, 0.3241, 0.144, 0.9961]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1704 left_yaw=-0.0008 left_pitch=-0.0431 left_roll=0.0021 left_gripper=0.9995 right_x=0.4011 right_y=0.1484 right_z=0.0418 right_yaw=0.0919 right_pitch=-0.3753 right_roll=-0.1893 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.4838, 7.0769, 1.7265, -0.0806, -0.0659, -0.0122, -0.1709, -10.0855, 5.9692, 1.5897, 0.1001, -0.0855, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7941f5f261e6cd6ec1d513750ab9a319488c61fbfa34702e77acb8465a6894af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb0a7bfa758b96c0596be90c66369d7898b21f59ecf3fd8ad6f73884456409b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e035b5d6c62fa303afbee53324ec32b0facc8b8c3818c24ce7b5c20998335350",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHqLTrc6XGQiDeW48RogXNeRAOVMhp6aljt3eSGdZxRMuLyDhULXNcLTuTY3n_nRbcuG2hsVRDzkdOi8L0ODyx4Caeh_7a8ZCDT-2UzbklN71gU5qfXDrXv0L6MwbTdZ_EzjT3_yTg3VBl4UBnYtUAjTqDw-5lmX-RrKPLddJVqN9gAsohtBdk3DcYGm6lEMpynSGwI5d6FxbRSvwtY5gmalPCaJOUjlZq64VgckocjLM_J7mW2YBFp5hx3vuDXlb6tdZ9JyMIs2LoraIZuIFmS7rkzYreavKBdytVeyf1Tq_IXl_DhonZ1sQSbUqVIUPhJsi7JpgYhCoc9zBR4NpvPp9yWla2MstKHib4EyG44NKIa85nznzQi7eG1zRDg40CuiG1T2dlmk_-E3_mDcpCZvCORSgySYwYYEdOHGXBDIejUXb5Hz-5PF1pRJuPK38MTGy3kgnqunbDCLSlq9TIvcWNFKqJzr5dVhszsspxeDozw6IqqejCY1cXKCgbR0KBfAqTQQ-vcxJS0VS524uVozuUFkmD-cz53kg4YrXhK4UH7kGoFjgaZ0f6e5Y65Dsy3vS5mNXus_tUvR9U0lVePPC9rBYEUUMfa5kT7BVPBFPLgKo416TJgCnaDwk3m4YDh3cL-DT9-VeQaVHG5xIfzRPWwpc4i5qR8To9VSGP8swk5NY4Skc9eQtqOClFgMy96by5kE8HdEmKpfEr6vzdjog14SKmhxAVTksXasNy8_mfGhMBrGi80jVYDqtAq5eooTwXgSjpZY2uoczX5UGBoe6A_85Pl6FcvBUjy_9gjRz2bcAIA1sbjFkT0oLW2XGQ9hVccaMbOYSK0AMbWBy9ZgzNq8_KVQyCaWCDezlBlC-RQm-Y9pV-Cw2G9jEMnK2JBiNVObFul953noQdHMpz2_fjs11CckW0ZAjquHXVuTfhY0qXykJiYz2Z_qOdXT4HJgiQmSASgCFXIbV1I7wFx9w0X-_BWpdP4dA2NUa0XeI3QCg9Ucmtf0fV5YOp2KUWprPjyVdUhIgExeeFE9HNm63NH7wyPlbT4Lr0IphwL1oR5WVdBQbsoM7tp4Phxb3fmcSu2MnyaEN0lDUKKEz2f4VMp3MouHPWEzzDbsWHUjVZnRM7ocBncbcGriSSGBlUfbeL8AjdMk5J9AF2ggfEEEIvJ7WiRfynuYkHlV2Gn20iyLaWr_J_xJJpb3psP7IgNDLJuNnQWiVhLurj18FG4NEKSxZdQaV8TH4XEeDFQOwl_KCd3xe1CjD6jwYcQYQi9bctBtEK81M3I9EsACfJSJLQMfKBCm-TE97PhBDVpdBm3aNXg5RBcB5AqXImRe1DhFbZpu9GjY4HIPbjwI5n2XOB_1Oj9eCGdSp4jgVZTXM-axu4uvP7fW-LDPikyxSbSVqClhu9nVMByltMd8rU2nDPOUS_6teyPKxHX3P4imEByfO2c9NmEKsjwZMF3auoYU4QNG8eJKvlLpfp_VFDmTg==",
  "id": "rs_095e49b6a96aa3ed016ab431e973f087d09f6e6a348df1ee8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bowl’s rim is now at the bottom of the wrist view, where the fingertips work, and the open jaws straddle it laterally. I’ll close and check whether the gripper stops on the bowl.\"}",
  "call_id": "call_15vx6y1GHfM9fi6sWAQjkQYN",
  "id": "fc_095e49b6a96aa3ed016ab431e9e96c87d0b0500984e8c78a11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_15vx6y1GHfM9fi6sWAQjkQYN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.4736, 1.816, 1.0206, -0.1814, 0.3122, 0.1265, 0.0075]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0435 left_roll=0.0021 left_gripper=0.9995 right_x=0.4074 right_y=0.1518 right_z=0.0379 right_yaw=0.1117 right_pitch=-0.3537 right_roll=-0.1794 right_gripper=0.0075\nstate[joint_eff]: [-0.0889, -1.0598, 7.0085, 1.7167, -0.0708, -0.0366, -0.0122, -0.1983, -9.9897, 6.5573, 1.5702, 0.2515, 0.0513, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806dc2caa4ac92bc01d4405b7709d5815359e9afb71d7365d300b28fbfa51ea0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa79ea001824dcc8ed28fcf5684798567127ceb584d2a35062c82b088111291a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9bcd31aed526667573447d5f0678d2caf250793d963e262347d958776eab77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0223, -0.0261, 0.9995, 0.807, 1.6901, 0.791, -0.0982, 0.5117, 0.4229, 0.0189]\nstate[eef_state]: left_x=0.2925 left_y=0.0018 left_z=0.171 left_yaw=-0.0011 left_pitch=-0.0408 left_roll=0.0018 left_gripper=0.9995 right_x=0.3175 right_y=0.2116 right_z=0.0316 right_yaw=0.1202 right_pitch=-0.2612 right_roll=-0.1417 right_gripper=0.0189\nstate[joint_eff]: [-0.0205, -1.2239, 6.9949, 1.6923, -0.0171, -0.0464, -0.0122, -0.4718, -7.8974, 7.5145, 1.3748, 0.3199, 0.1636, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4778, 1.7973, 1.0294, -0.2379, 0.3241, 0.144, 0.9961]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1704 left_yaw=-0.0008 left_pitch=-0.0431 left_roll=0.0021 left_gripper=0.9995 right_x=0.4011 right_y=0.1484 right_z=0.0418 right_yaw=0.0919 right_pitch=-0.3753 right_roll=-0.1893 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.4838, 7.0769, 1.7265, -0.0806, -0.0659, -0.0122, -0.1709, -10.0855, 5.9692, 1.5897, 0.1001, -0.0855, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.4736, 1.816, 1.0206, -0.1814, 0.3122, 0.1265, 0.0075]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0435 left_roll=0.0021 left_gripper=0.9995 right_x=0.4074 right_y=0.1518 right_z=0.0379 right_yaw=0.1117 right_pitch=-0.3537 right_roll=-0.1794 right_gripper=0.0075\nstate[joint_eff]: [-0.0889, -1.0598, 7.0085, 1.7167, -0.0708, -0.0366, -0.0122, -0.1983, -9.9897, 6.5573, 1.5702, 0.2515, 0.0513, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806dc2caa4ac92bc01d4405b7709d5815359e9afb71d7365d300b28fbfa51ea0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa79ea001824dcc8ed28fcf5684798567127ceb584d2a35062c82b088111291a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9bcd31aed526667573447d5f0678d2caf250793d963e262347d958776eab77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHvxwY1GS1auW0z5KJP_fCTCjInlzwif80-PKYkDd8McQejiFd1jHbENrADvKN6-hC089uzWRvPU6yxWOWNTBkS0ayPfL1UtAEGFGH_PUiSRzjvILgq2fS513ZHN7hj7ySBuQIzyGRiyGSYtL132euEddHdBgK5kjRaNRFu3qCb_wCyIYzJ53l3Oe36n_TtGny2bCzjToqcmijPHG6qVH97bTMIj7quPmVj1XhCdG0162wwo4nqrZgDM28o7EToZXn6oQeplm2TwbnXZ9G9h-aVwzxCNSux9Wu-45RFeymZxabSKO6VMXWnhcdHpZcYtOlj9XEkDC8b6U-vgd8wVGmnCqixCWZdiJdoi-3GoUsCQpx-GbgpRbYrSVMDjJnsU0r4uLHetki7TY_19WIdTjG5yd94BpapHXpdrnIkYE5C8Keaba9TIeUiGBBdftGl9g5uyaoVoz157EnfC7ieH-A38FsdgiVT40e40JKZrH2DN0v46HrT0XkMpPh_wrbh081WmJ6NbFUOU6JO5-Ao8SIx-VfBdaOMNfdJhLahHPjdzAgQdCdexB4NYXMEUJpiXNNyHSYbnik9bq4Xb-jYE4qrP-2lEfd5_vZmhKx2DfyhuwvVmERtMADa02JXG7OYkFvpPnYqyVY_E7Lutb2nNw9D-bvuP4wMzpkI4pYOhpxnq1kU-QmadpIU_HhweYyvBN5jRVJpZYfO-d6mHhrkeP4LeXvkvE0BzrzSSy_8Ydb1FOglHbeizJGc1KItboqem-CBB4h0uBzy7Xn95qkf_JDGAOsTM7faelPFB9yoc_uFnBYnOp9cD0CiL0woyrDTSy5XUUWY_zpyVJ8sIQ-CrDt0tXRCPqDBx7gbSnBQMKkYn1dN4jKMj_2Z9HOgyxQ_fUZoe6wZ-uz-xTODoG-swcS7eXxM4QZr6t4EGUKt-Q4prmNTksdGdCg3PNLXBJpDm3OiWrnBYbOF3s69Dn2mXJj_JRdr4VFteIakdxIxPVkXoPBkSFfpBj6sROrcPrkFGb-Q7mODgBBIb3W7YG9tjyGJkMC8Bdk1mW2fjpqWBGBQsS5ZK0EWiTcO1V20TF-44dMk4ipLf4Dejs5ytZbFwVedjSinTj7bgs-v7kWFlFneA9wQXlgn598UPtpbDJ8nydcb7RZGLtBA5GgCHiQiGZdreco1RGHoDcQhfcnr0hnrUzKXl11nen0UAxX_oo-QDmBvcD1zRP1zY4uv_xuGwKJkCPPzSUIFh2QTKeUC5FpuxgqvbSuRv82MDz1qCND8m5xgXFcI7SG9_ICGQOUiZzulRJTCT9FuSp7rJcM2C5I_2GkVTXEuqlGLK0zxVXw_Cz6782XlsHDC5yJRoLT-B9-HL0bBGz4rtQFd29SI3hYzkayFL0p3n32Hd4hSMXQ7jyNo5hbky-cKUCeOUZsI1NSRhrx4XhlnL6SqHViZkssu9U612yofHnDIF8Erz40OJbopB1vxJKHXbz--51rhw2Hod4KgH7NEjD2AZYblvgklVA_Ymz1X1nAV4AdTlLsNo8zXT1slrYC3VWVvwnqipqYzOyNbS1_0Cy5Oh5DSGSXAPKVTQEhDI_FI968uuZvxLqCsei0IkKdXHEA9pJfyEj0lqdg-2VpCAoq8pn5CsdYbjBstmwtqwx2Wrb7G0oDwn0z4mlvzKdUlQ018f3uWftLnnYppYbCWktsZOlmbHCz1WUqnmd1U7ugFNfXh7B50X_TRiQgf0GLBcrWri6WklYb5JnU7MCL0ynfu9t803JYcUVyZLNh3JnqJ3FwRFBlHhLEC7k1pIX85LKS6OFMEKQRofDrXBdIczaU0iXGvikSzR8x6w90njrOWdUl8xOnWMYkIieQHbmj_cXLdUvE5x3hc4GlIWvnHA1afJZZArr1YcchBccveasorFiswWKJDG45ttn4IVBoGFjug5MsmjHOi8k_VkpPKypFB9eYU9RoQenk9b7x0yvqGnK9okKSNKx7yFJQ5O4R3kcHTW2UicXKZc0yOoDW20FmnC5yauySqOn-3LmOgtCCTaD01k95-2ccSsizhCsgq2jTFwv4oo7leoKETMuaTowNZw-hJaSVjlNfkctZ3ssDGDEV23qYKiOPmP0grbXzfkh6UwbY-6VQbZrdVrk-DXIk3q0xAgzRRnXQJ1lsgZXBSdIJvxXRSFFgd1sBX4lr41zCaXTT8YeXDhJ3Y4D7A-r74MF6ErC4u-jKWVu8VlPK_OebEv3J11E6zOEHVrHBkvKAfrTx009mRkJqYvBIR0Vv2-sADxY6yCql3end9qhDqB4z2Ngx2ax4_xej5QYNK69omUEenR1ETmnPLNP2n321s41f3nSMREpmsmFU6G5A9mDQhNFcKp4YbndLxXfHnL5McOAGtk9Gg5Z8VljN5UV2d28vCSc8RcnNRtQpL9JzYOv6fnaLSy8i0EcS3haphk8COD1cx0qIkSfx3lmc-bor6a1IpdWEf_G0Aze-0BuE6w6dHqX1wWnRiFjHg9z_O94-c0pDZBsJa0Djg1ptZznywRSFjmGAHr_d6TS9aegB7kaVWccXfgRKf5gL588z0QvvUZctFYIi98kVip3mvebR8he3q93qEup7CGG7Ciie9Lzd_DneB5YxbZa1AvoNR-1Lhp2anHFGM_xtNOTCKmSZjNzDMY8oBdVw=",
  "id": "rs_095e49b6a96aa3ed016ab431ec570c87d08bf8755a1f3b4dd4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.38,\"right_z\":0.055},\"note\":\"The jaws closed empty again; the rim sat just below the visible fingertip convergence, so the gripper overshot it. I’ll reopen and retreat a couple of centimeters to put the rim at the fingertip row.\"}",
  "call_id": "call_L1s8v8CKc5Wl0RyMU5gDAxRZ",
  "id": "fc_095e49b6a96aa3ed016ab431ef1bb087d0a524688dc3710867",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L1s8v8CKc5Wl0RyMU5gDAxRZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5087, 1.7313, 0.9665, -0.2455, 0.3153, 0.1455, 0.9954]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0008 left_pitch=-0.0465 left_roll=0.0022 left_gripper=0.9995 right_x=0.3804 right_y=0.1535 right_z=0.0448 right_yaw=0.1287 right_pitch=-0.3822 right_roll=-0.1828 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.5795, 7.2957, 1.6777, -0.0708, -0.0855, -0.0122, 0.335, -10.0718, 5.2581, 1.2918, 0.3443, 0.0757, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca6432a0a102e256f2cfdc74e4e4a9ed6ec9750b40333cc289cb70d2b52086b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a92239a28ace7c154029b896d2a9bedf7dd2a21847c35f46e51fbc4a9f4611",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5402add67e082bbb1dd01eb524d5b91d7bdc18d95d6d1c48f6843dbee6efd5ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5209, 1.6108, 1.0447, -0.3786, 0.3496, 0.1761, 0.9957]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=-0.0008 left_pitch=-0.0412 left_roll=0.0021 left_gripper=0.9995 right_x=0.3821 right_y=0.1536 right_z=0.1039 right_yaw=0.1042 right_pitch=-0.3077 right_roll=-0.1637 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6679, -0.0806, -0.0513, -0.0122, -0.3214, -9.9761, 8.8274, 1.37, 0.0562, -0.0122, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.4736, 1.816, 1.0206, -0.1814, 0.3122, 0.1265, 0.0075]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0435 left_roll=0.0021 left_gripper=0.9995 right_x=0.4074 right_y=0.1518 right_z=0.0379 right_yaw=0.1117 right_pitch=-0.3537 right_roll=-0.1794 right_gripper=0.0075\nstate[joint_eff]: [-0.0889, -1.0598, 7.0085, 1.7167, -0.0708, -0.0366, -0.0122, -0.1983, -9.9897, 6.5573, 1.5702, 0.2515, 0.0513, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5087, 1.7313, 0.9665, -0.2455, 0.3153, 0.1455, 0.9954]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0008 left_pitch=-0.0465 left_roll=0.0022 left_gripper=0.9995 right_x=0.3804 right_y=0.1535 right_z=0.0448 right_yaw=0.1287 right_pitch=-0.3822 right_roll=-0.1828 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.5795, 7.2957, 1.6777, -0.0708, -0.0855, -0.0122, 0.335, -10.0718, 5.2581, 1.2918, 0.3443, 0.0757, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca6432a0a102e256f2cfdc74e4e4a9ed6ec9750b40333cc289cb70d2b52086b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a92239a28ace7c154029b896d2a9bedf7dd2a21847c35f46e51fbc4a9f4611",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5402add67e082bbb1dd01eb524d5b91d7bdc18d95d6d1c48f6843dbee6efd5ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDHzioRZILMtVZ-i3VWsCxMH2dIKxTRsA1rWO7xkKYxgFi0I73gCPW6CBbXIPVH1wPaCn4ZV9aehdJnf73r8fKcgyjXa-rSFrB3ne3lZwmBwTk0d3s2q7K36M1NQceMpVzzXB_H2MeF6gd8TbbbuKsIf-Y8-yKxoWUorsFMPjx-73QXBpPkPp8lwgPRVoIAh4qCK9iIwcgv2yEKZOLfEON361wxdd-Q9VeYAo-Dxc0GKL5YPbCdgJUKEaIkm4Dp-ZxtV1Ij_gnmAUPf-zXrBjuVmR4aRrP3DnDq6LlgHwIdNg0FZ3THESJTnllfHK4NRKHxtCSkngeQPG6ko6fyBxp9MHr2iyyUPtopwwKeSQWV_ClQTxceGH5rLYKzDXaNWIw9mB2GT8HfHONmSufv-z6wjqXnLGt5uY9ojpKPQcWzlSt1WPZBqyotZaRqxf-j2ywJfbr6lKQzYWilgnxuGoFPNsOrNH_G8vicUlPmMlTmfk_EAMj2I8EMtinJvURjzHaqCghZyEDgNWQ0gY0Ha9OelVhOvoyoDM0j93z1zyXjkvfUO3DGq3qgmZ5nB8X3wMtlLU9T3qngE0ap1GN56IQmipx0hbG6YiwlCvgTy1Krjc6RR1kdq3gdCCGgsRxdjjiGPk7lwG90nrNd9yNA9K0ocBbXWCBH4ZRT-iWKtCVinr4d9kX91PqZwdifNIrgT_voOd-0XOJ08mywlAuN0HffzmiZHF84KlxHcHtblLgUUgvrXqpkmk3k6s01Gl3p_v3038Hs24mvf_8LZ46sIvY-MrEPR6fYj26hrkaAdidbNXlauI47ddV_1D-2-0EvXdPzKzg9-c8_418YBcZOzV1Mdai60xhSbqeQpz9B1Fq2DrZadqDXLpIFMf2BLyXkPe0kKhy3Tzukj80IYg3qFH5HBGPUf-14YtX5fyGrE7AZT5teMg_Gh7OilF5WbpzN6Cei8CRwxk4DuRM0Yqx4FXA67FYwd_o2eIWNmAeSY5aOSkW1EQdy3rv4kExxJOEyxjwDuW7foBWAuhCH1K7xoQdsxHsGkzSU0BxpJKuV674C5vTCbivAB0PAeU2Cz3kJ896PrxfZoaLg3iVXvY_s7yck4gT1cGs3pQHEVYE9PyYZmBl1fMMQdknpZ5ZHrPTGzom54lKIHAneB_fVcYI2o1jDUZbXCM3n4d1O3lDvKAYUBmWte1yg4FPXgfuLwDcVhau99WP_fUvTnpiK9rr1e2BKbL-IZhXfJqFdG5ebTeVkIQ6roEJ9ZfBRJQlHY2blYGDrQwggLA8xLcZh9p1bmphefHHPVRECQ0shnPVi-PVparMKQiSCTlJ-JAquiMmglNCbOkNivtSmEmzsGa82XfAM1x3Ki-wheJt8h-JUSiWc-PgKqowPfgLc7V75iQBs3wBOQctrJK95fAv066lEOm3JpDV3wSlCjt9Zd0DklAu6GoVgoi9o0XR8BpQoqg_EMi7COtWDdiIxFlR8DeWHoDyiitutacZfiF7T9W_X1KvhBfK309-gpEQC43BjXwYpaUJQDW3iTMSjJap4odaElBretSHLp0wJJ3jAb-Sd4gxVVzwMFZ6Rj2-JxLXK1SfsFcKbyVyGTcGrvYjmKvcUmzA8RHLNBNGiYxISb4badpx9BZ6Z45vqMjwXAAQdIbCoErI62gprCphHPXxW6kD9hFqIiFUOiSm7wrNLT4DV0gS952yGrDmfEGeuvERtrSdM1a8jGCoNfauYn9GC_HzCVfaDQDR2eCVnp9VEl46ezS8VR6kE=",
  "id": "rs_095e49b6a96aa3ed016ab431f198f887d088d3539521c0036d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_z\":0.055},\"note\":\"With the jaws open, the bowl’s back rim is still about a fingertip-width below the jaw tips in the wrist image. I’ll retreat another two centimeters while keeping the same low height, then reassess the alignment.\"}",
  "call_id": "call_VIXNUScFLeYBBbLOu2Kwmkbn",
  "id": "fc_095e49b6a96aa3ed016ab431f2b96887d0b12ff9661573514f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VIXNUScFLeYBBbLOu2Kwmkbn",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8192, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5312, 1.6806, 0.9237, -0.2649, 0.3218, 0.1612, 0.996]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.169 left_yaw=-0.0008 left_pitch=-0.0481 left_roll=0.0022 left_gripper=0.9995 right_x=0.3647 right_y=0.1536 right_z=0.0472 right_yaw=0.135 right_pitch=-0.3891 right_roll=-0.1832 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.1829, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, 0.7316, -9.1692, 6.5983, 1.3602, 0.232, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efdc64d257503c9559d6dd2e9a3ffd3687e03640667eaec960326839cddec369",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f9176a7ce44c84e229471d71e9be2992c0dd4ad7f07548816a46ed900d17d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf4155d65363b5297f157a974e4c86f317b70ba1b940d63d14f1e72c493b3e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.4778, 1.7973, 1.0294, -0.2379, 0.3241, 0.144, 0.9961]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1704 left_yaw=-0.0008 left_pitch=-0.0431 left_roll=0.0021 left_gripper=0.9995 right_x=0.4011 right_y=0.1484 right_z=0.0418 right_yaw=0.0919 right_pitch=-0.3753 right_roll=-0.1893 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.4838, 7.0769, 1.7265, -0.0806, -0.0659, -0.0122, -0.1709, -10.0855, 5.9692, 1.5897, 0.1001, -0.0855, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5087, 1.7313, 0.9665, -0.2455, 0.3153, 0.1455, 0.9954]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0008 left_pitch=-0.0465 left_roll=0.0022 left_gripper=0.9995 right_x=0.3804 right_y=0.1535 right_z=0.0448 right_yaw=0.1287 right_pitch=-0.3822 right_roll=-0.1828 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.5795, 7.2957, 1.6777, -0.0708, -0.0855, -0.0122, 0.335, -10.0718, 5.2581, 1.2918, 0.3443, 0.0757, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8192, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5312, 1.6806, 0.9237, -0.2649, 0.3218, 0.1612, 0.996]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.169 left_yaw=-0.0008 left_pitch=-0.0481 left_roll=0.0022 left_gripper=0.9995 right_x=0.3647 right_y=0.1536 right_z=0.0472 right_yaw=0.135 right_pitch=-0.3891 right_roll=-0.1832 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.1829, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, 0.7316, -9.1692, 6.5983, 1.3602, 0.232, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efdc64d257503c9559d6dd2e9a3ffd3687e03640667eaec960326839cddec369",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f9176a7ce44c84e229471d71e9be2992c0dd4ad7f07548816a46ed900d17d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf4155d65363b5297f157a974e4c86f317b70ba1b940d63d14f1e72c493b3e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDH6ROuoH_yMYdZe2k_O4Gur33XcR4MVvDrxQBVUy7VYMNEmLkM27QR0i4_Im5AD5Dh-C4KsSkJ3CKtOUS7VwVyZU8ZfjHDMF0FZY0LGiFiEP1vYj8TL3CldIocbcjQNM1RM694gbLqSWQ_zcjn0ozMcYUjenYaVtZ17kMtP-GiTwt4eVyPszsJPB_SkNw6oxhcfuzEkd5ZKK2-CGeij4E--Orp6mHRqOLjcAXwxtp2c1Q-uEgXiCnEQLNPzgwNa29gymgmfc5QO2NyQz-ktUuHllqq-qXjuy0uCWR340Q06NUMJauHx9lhz5-gKT69FOik9iPspEd4Tb_1Pje7j-fGJE_LS5-m6LcluKRliE4EQ8FBTN4x8uRfVbe5wDY5wk0moMhZCF7D3bbfOeQeAJOze30BLwiLZPWgcX0XCMePK1Qid4GJ9g5XndOhXIPa4PrgjmG6cqd_sNz8MKdqHB9u-KBmGgGkeSuxPt5AS95JS9AK6S7uJ2ZZp6VjZWh_osOE9PYXWsX1qwYL8hXo7X13esaYjLCmAZEewQ0vCR8loUK-4-XXJJ4rruuunJ5FwHJhhftHG4EEGkoTFa1rznEsgTmIX3gBykhJxKVLz4dTFhJuLOGR33u7K_OGl5EomYIDNfCkdkPE_H1CJmV4bvoVxOaw6NLyI2zIEkT4C854iDR0Px7iSc9zOMtK4jFyBNsRV3LWXcduJtIL73MH0DjSXrIYpVOKwYqO1DlK9LLD_sSxPkgqtmmQ6eONhqwXm54hdsgpibwvI11qR6dfE7d9FVxLGmDZim0rG_zGzwW4OK8V_V-kXVZLVo2TObHKQlr4dZZ0J8A3HUlOqNjXeowEJ-JNnMXC7O2eLlI62BoaWXS0s7mGs83lJKlVJWeh2yS7pldpe7vpJe-Ut2bd2t7aloax1XQ92OdQRaXs5tLIBwC7BNv4m6sm-brGTd24sIIz3Lpeq0rMmAl4TT8YcaDCuLzxE53F5HWCE2WwHFiGmZQt9l24A55hycGxrLev6BXdVAIsE0dWr5bzO6v1_EpWbSQQXP-s9ux9Ut4pGYqflSafK-Md71ZB3ot-X32377zwgVAG0cXUYFYUnmOYfBuWbx_rr8TfyZQ7ok9ykceNsqMFan-KWk48m-1_aBsH1JymJpeEbXpAxobsSzu9oWwUcmE1cgLXMz8KBYCt5MuimD0LhTDdqhm23Adh-gmEbEDECO00bYHOuTXfdzhSSg5F3zaZw85nSobafO6Z-wQqrA1waEJ9ldXgyDrG-L23BAJgqfBRRbVWf08uthZbznVdfv5tfy1n2IinKHa0om7ykymIo2k-cNu-sqTI7QoqkWoCYFZXrmh0dOzS3DhlRnI-EWtjg8fjNDKuSqOuI9S3mQ6fQajsYhc5mkBB8C7O1OrBJLAyrvFkVRyK8hmn3_uZhNoNKokkMFpYHn_PvjFsYd-Cn_pWOVgoLo-hRZlQ_eNKCMxaHq55GM5UgsvFaI2jAfWowpxCFTEo4STwL-UT32p-ef7EtYWWGhgspiYRRu9F2IBHtVScZTOxAEhAKibf-0iGaeJJGCLPff4nRNsJ65yO2OHeVshn37Qaa884A9FwdlOT3g_NHqcLH3kVNPr63_ukjqI97IXGFsalECXbu6ff8ljpVHIcVoc97Ujz7wcGpeKbUsxUgxC9FsKICa8BZ7Ucvsqc3HjsHDipwzFmUEtCa7Kq66t9LqRnxoV3Dvu6LXZFqq7tin_JgwUSMH_uIUA0kYUEut0fLrNV6KBUAKoMOAjWkHUfiWPeuEbPGtmsx1kuPE56gpJS1FNtImdnuXFqjYzGHFJGhT9E8EAtX5OwIiFw0uPNydY5c8vA0ONplrMrOGwqEUygLnRO7ul6_uorWW08pfFTzlDLlbX5fvJVkVP_kPruSG6URh1_qhE2fR6KjzsAuLFa_2ouTCwv2cwncdB48TTIGfeK_oWzb08DMfMaciwDXephEHSasgBLPYGKQSrCehBYuz6-GUqdkZI-G1tvW0kMs1dReyIXgA0lTJ8DvFLt0FBzFJqxwGSHvOzuFymnb0hLd75SgUaSwXTYznbt8QSTuMCBjbY-ZByUiFd0dp8ljFA4XVJTclHTMANpUFcb7pTRSpylNR33qp6i0vhG-isJSWB5leWzTnYSbEenGLmFFUESmqI1W1cRYaxtrNDK0xOX-wrOJfS43a0pibF4hz93LGWwWN6zeVnOETf_jk7cX7clFrzxNIfh2cTuRluR9oAedGTCa9UAEkxus4VdeID0U9gO4kdnAy_PrQz6gtTRZsHTrFKZvy54wWK2S9JGQW2IFHXHgMJDTcZAVFrvlKn_IFPOwF7RT30j-whgqNESfZ7pIGPFxgxF_2kZmE2KCkj8TYn29ctpA7QpB0bh1GtQhYyOeUPiEEhm2oyF1Mwi01s7b68ieG2EK1x_SZfZg5CnQiln0WhWN6yKD5NDCV5AZ_YGzjUsGqMco2qebZ3-7S5UrDLtfZ8rlfBvxwn6Ns9Zpe0BI7kscbFfGYqWlsXAp5Sz0dQIOkN0BDicrtZjMD-Z_TxIOD4WTVvJA3vePIcHNyJHmc0zqF0ppS6JCDVftnTiqIGsWAChfzBBIA-66arhO-CvHm5gG7pzRbuQCvTUd2CfY0TJeXx3YAKzTBCES9Zv5x_kJ0TEH8GvMidCx0S2r2AWsQxt6hIh5AwN8ucwziAlQD_bw6q8T3NJ6TZWQ-LcoVyadDYdXldUB5yKWB4h3Z3TUlPTYicFTtse0EHUAvdknflJ2SeG-3w6TPEW6fZKJ5aSJ7OCebdMm73WaMyuzphS2DIG92ijKbTgv5h3qPR3RmppCefKsaAsljzc-JPgRoM_yOX5VBlxlZMFzTMWlnGbDQ9k5H9daolc9foxGQeY9-rHO9np09x99r1plA4pkbN9Jl9cEZrguf5rlU_BjhLYv3V2raDIuTcfsK5jRbAbDlJLeOLhi4Lx1rksPbB0eIYRoJzmwu_7p32k_nYvXL8RD7K2fDinXorzpe0n7uWTBUznXk7_Ycgkvw-q4SJM-O5CL2HPXwVZt29H6GJNepUMmVkAnAubKiy3KAjef4TH_zE8pp2uI2uihflZNBu-UXuMWFehe204eUh2gb9xq5JJj2FLh8EiT95UtKAmtnaNXHb3tj7ZNeBQ6scLPwUjkhZpO1h1Rxev4pM0uCzVJPh0OhMVP1oRd3xYr2UPSaqSXlQUUCsnRTwdd-oIyGa6tTJfoXZ2Cx7QA_cks9RVG4d7QUgrMMVBwV1l7xVpTCw2NGPyKAfZv4Xr5IDxaZW4MG6DIlx16SbEzHR6YZpAR488eNWDtcg6142E3xO7QsTZaDhHcU0iXF81g3B6ezFl_SNQpCJi3nVQrWHugf5o2ob7OKNJdZeWIEi1ONl9ytnnHl2gdPkh55BjQSlmQctJ5Wr0edebbv2NikPYzdp2egZi2q1VssdsT406LI7a9By2_q8gWHYDbZfJkRzcKRtN5rnMu22s9mhOGC9hcGdXtjwzreOrxk9iK00btE77JyFAmR_kN_8Kt7tOpkkkRyKOrVqKhd8D9oQUWv7K8V_gYMzNuvC3ab21w_HxW9nobR9a2rvLfDfuM8ZsAagqXYI8BlVbfob1mL5QOtyrbRklpOFQUAl68",
  "id": "rs_095e49b6a96aa3ed016ab431f47ae487d0ba99e54893453faa",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDH6xADvHSw8mzniUqeHl0z4T0M1HT0QVDMlJPVKHyA5Vb0unjKUgR0tB60p1aI8EcHvV6ufUfbhv5yVZINbDFcxjJGkVDh_Tzt8iCcAur8iyCI8LnAILOdxmsiTNq1VIbfA3xkrA6ZPzOBizPuhS83DSBGlhbomXvlmzUB0ZWqMiHMxfVyL_3d7yk01BvXv6E_w9R1vpOnylpDMtNnTZz_jlk12dpyVodyJ7I_a7ZRM4rEJUF9hn1gwwCWJHYSK6drhiEp4t0nBdnaZ-ge-dBCZUoTvQpPWddjCeIxqEtNLKG6G_yUs1OH2sZU2l9hPAvsc4_YSslqo1o_8sv3Z_Aj2TAcPcGJGgUBHQLmRATgM9s2bOsTJNxBvSfVzVy-LnzkUEhcORrjQ66T_Z0Ti_dAVQxaBXwFNDhiiLibN-V3AE0-JWBqMuvxit6Iu81XdN3d9oPupNe9pd8jnHJBv58YAXKrcJBv-mptgGtMUoRMkTjDgWeNuWrXhXCga2VF0qGlwalnuKQmAI3NVr74dqeKVCxIDCS8GLUY9ddMavoeHMfzsTejERku0Oa1IEheEQiZMaRC_ad1vO6rS8N_Rj2dzBP7h5Xll7-zRAurOGCyBkcQKCEVWn9wBC8HiJr5SlxfQb1QTND_WHprwcqp7nQ5QQeELFWgYO8tmBq_SfDnJ8iddM3MG7PJoPe_lxdWYzE8EIbOqBkRHETquxWlmn9681APFiDmYtOQ0JGut5xYmKjoWYVqwgAbjM0Hx1gi_qefmRHHXtRjLhvUBohDGVqDj5eXCEEimBewybCRb9QeHmmm-mE8ZgxLZKyODjYNwvw4gsovpV0kRhZjqlUihxgTMUEN9aHqUKdkbY4IKckqEntRbSWRWmoFhmxfOJzmMjfVtiDtZuU1rq7MtqG-JkDjHo4OyoY8Xbk1QaCmFbFeIfYZAi10qik-INbppZ97_EO9NDdnWFILt4gNoPqh5UMOERJeJm3Q6FrK_WAitx8J2WEdMZZjQz9sgkwat6XKWvGScgYiuLY2y1fZphpayhaC_Kd7Bq0PqhNonmxTHw1bTvd1yiqw5M8nJN8AGBoyY7xqT-fRljecLfVior0cOkM2c14gwnsjXvadt86kdaq0Eg6FIZRYesMfJ6n1mFKtN4elDttgqjttyksCawt1dfZWjI-Luluk6FRsJ_yWrcbZNdpnwnbOWXCjHeXY06CqLwMSsRLDgF6UKEDUg0ZvG25pbmzpZfc7dS1rER71oZAJia-vMNxTvvkgl_5vCfJ4le5WlKiK2JWSIWBMq-TxjAv_kKNFddEZ9lwPYB8BE0oXTnliPPVixhx6JMC-Ky85J_SmHbD0a7iicKxsikuvg6jYiXrGEVc1a_EZQi723-pt4PmFKz9tIZJagQOcqv2RyeSG-",
  "id": "rs_095e49b6a96aa3ed016ab431f8b6a887d0bd4e6e8b34bf4b3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.12},\"note\":\"The right bowl remains on the table after two empty grasps, so I’ll leave it as a possible stack base. I’ll park that arm and line the left gripper up over the left bowl for a better grasp attempt.\"}",
  "call_id": "call_YJ76LogPJPoA6oWGlxCas8tf",
  "id": "fc_095e49b6a96aa3ed016ab431f93aa087d0b041fd80b354e546",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YJ76LogPJPoA6oWGlxCas8tf",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5549, 1.5078, 0.8005, -0.0612, -0.4294, -0.3542, 0.9995, 0.0223, 1.1172, 0.9455, -0.7898, 0.0635, -0.239, 0.996]\nstate[eef_state]: left_x=0.376 left_y=-0.1423 left_z=0.1017 left_yaw=-0.0178 left_pitch=-0.1136 left_roll=0.0315 left_gripper=0.9995 right_x=0.2971 right_y=-0.001 right_z=0.1647 right_yaw=0.093 right_pitch=-0.406 right_roll=-0.1887 right_gripper=0.996\nstate[joint_eff]: [-0.294, -6.7487, 8.9094, 1.663, -0.3101, -0.0024, -0.0122, -0.1436, -3.6855, 9.4154, 1.3065, -0.105, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb73540fdb31a36a4445947b746dfdaf72c85392aebbc345d5a348d0660cb89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:453a3ad115db0b0c446746c7cabd86b4f78ecdb7c70f1ef921a347bfefd925ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8cd224f4f4336fe8dd041a01a7bbfef2da860e65618bcd2eb5252a6391537ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 53 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.4736, 1.816, 1.0206, -0.1814, 0.3122, 0.1265, 0.0075]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0435 left_roll=0.0021 left_gripper=0.9995 right_x=0.4074 right_y=0.1518 right_z=0.0379 right_yaw=0.1117 right_pitch=-0.3537 right_roll=-0.1794 right_gripper=0.0075\nstate[joint_eff]: [-0.0889, -1.0598, 7.0085, 1.7167, -0.0708, -0.0366, -0.0122, -0.1983, -9.9897, 6.5573, 1.5702, 0.2515, 0.0513, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8192, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5312, 1.6806, 0.9237, -0.2649, 0.3218, 0.1612, 0.996]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.169 left_yaw=-0.0008 left_pitch=-0.0481 left_roll=0.0022 left_gripper=0.9995 right_x=0.3647 right_y=0.1536 right_z=0.0472 right_yaw=0.135 right_pitch=-0.3891 right_roll=-0.1832 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.1829, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, 0.7316, -9.1692, 6.5983, 1.3602, 0.232, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5549, 1.5078, 0.8005, -0.0612, -0.4294, -0.3542, 0.9995, 0.0223, 1.1172, 0.9455, -0.7898, 0.0635, -0.239, 0.996]\nstate[eef_state]: left_x=0.376 left_y=-0.1423 left_z=0.1017 left_yaw=-0.0178 left_pitch=-0.1136 left_roll=0.0315 left_gripper=0.9995 right_x=0.2971 right_y=-0.001 right_z=0.1647 right_yaw=0.093 right_pitch=-0.406 right_roll=-0.1887 right_gripper=0.996\nstate[joint_eff]: [-0.294, -6.7487, 8.9094, 1.663, -0.3101, -0.0024, -0.0122, -0.1436, -3.6855, 9.4154, 1.3065, -0.105, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb73540fdb31a36a4445947b746dfdaf72c85392aebbc345d5a348d0660cb89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:453a3ad115db0b0c446746c7cabd86b4f78ecdb7c70f1ef921a347bfefd925ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8cd224f4f4336fe8dd041a01a7bbfef2da860e65618bcd2eb5252a6391537ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDH_Oizgx0_8y2YT27ktuZwSyY1xX2I-8hQZxvIKNQk8GzN_yJ2QPoRc0efuXPDbNgdelCScOunnmcOwkI9ZKfuDIc9sp8J0Togr_pFNe00eiz_Or9hI-KcNRkGecH4k-AmOdewLajGncwxgdVwL2KuWiFEY1XF1O1X6xgNDcHwwrLNCLG-6mKEno3g2Wq7Fy2kTHBj0d8HFxnEKh5HvmKKX74Du76k684mYbG0bJEVpF779aAE3xKqbQqZL2MsfY01NySq2GXjitkVGfxFKdW8sQX25oaiKelztyDCi-Wm4rhHjXK4cEdG_Htn_-MRecU0JCVTUxLO9Zj2Z9MUMZ0A92uM-a9ia11uu89gShbOWzfzWoJ9oqVlp3WehfIrD5tP8vFlq17mUZXHpOzCKilTkhLoix-K1iCChT_bXgpUkkpThg7QaA88eUEPIpQg1dG6mOZ_HAQ0UDK6kJOXVZbs4Fx6Ubb4OSftr1Nc2YwQhO8WH0SuAmyyK303ZK7oRPn6iCqpS9zofbZ6HxQ_wlEaJ9WTJFKaKDA7zXPZqLIPxjqQZSat8VAsi0rPIjIKeNCgrhBygd_LX4GvHmeP-__HX_8O5lXMzX0UOLgJcbh2qQ7zSTXuCqyzTnyUaPyLS05xh6-colCfU-gOSv6KKkntEc_WlM43e5rpN0AMm3KdK9LUb-Sn9pOBH-72ZbjeI5lyhMWQel2m-5wNnmMSSMWxkCXI4VSIpuv4d0sASV2XnxtiAJ1xT6HotvzCT3agW1SVr8NkhITcvYYkpFqubMEaWc1cQQtJ3xBFX-dInGz8Gm8gHYr5ENvnCvk0YDyFyTdzpn6DAcWXwRy2zmeC_BAet2-PCDT0xq1yQbmYRaHMKZom1K_zVWWHmje_P3tcIXaEEiRCQZ_CaiNjwclwjPhAWYzE8WLYSrnav9Gls4wcwx8-9l-Uttv4BlqUEZlRMr5rln65S44lJqBRXOT9I8aPX2vvZUyMl6H_VsaDTq1j8Fr1hBXErjvVlLoGGtgkCXsgBnbY7t0lbgXYov9ssWkHjaFG9OvjLEUqCUzFyPlTzh-BdYpP5EhcV3JJaQrCZqfZlEA_jdP2I1-u1W6J8GVe9ZgHo3fto56l8PkJQJOGnZD0a9DZvY2CNw0veELL0_E63YuZBZM8Fm6OG31WWwbPhnWt0MKS4pp55c8e0lldZDFYU-G2rAuJWt4catbxHABPMmEtxipbx0aMWTQ957rJG4Yw-exJn3gvXJqxyhjSh8U9VQ8UPDrPXKD-TJbSkUuN7prStXjVk7FRV8M0YvY_OYDRO8h6mDAcCtwPi01VWhFPbvYlSTqqx6CJIuZUJpNrhxytdPNy9HRVwOkrVDYrUC0bzeiPhGPen8ptKAkQMN61Z4FckXlZqO76XcruNg_SppVCJcRgQxl3HBU2stqZVv-NLEdbwGz9AoIcqELrTib2tmRd2xLehNZAC3PbNPuEgVk5QdfJ3aFgwp61kAke2UYGFz55PvkoZVVkYweYwfkVraAqvCpgsDlHOR577tEBEoK7WUOIodWBISpFIXG6DcYA5t5Ivudu5SmN_lMH6WylXkhGRd7t1p2h7trhdAH_rx4FMBaQWLc44XHZIoHpojggwtyCXMe3VYEXKGU5KDmX_fUr-yToXUs1aa0LebxE6lKjp2-Zzv1TKVau9QkS_B3i5nUSzSQTo8P57rlqhUuBJpimNi9_ybj058fL4QIW3pausoXm-WLONvx2ie6cGQcarU9IuNVA1svum5ZXOlq0Je_Dvvst3LUQBNwT1ZWSYIES7pr3C-5l8QX86fmz5DQ8Qdfn_BKwVA-_N2ktNw9_bPWIuv_nw-f9DZ9RfwKyx_E0Jqy4z-3jzppBo0e9cCzW-yq1djIiIpIh_Gog38jPJOiAMeZppUgLy7JEsgjcaFwtSXthGHoaiGzLSJ0jc_xwWs17rtXJfFz6m9l3kWJpE3ioKWTVYGlByNb5nWru12PfYwAYZMcvqE4vCDidevQ4pq261KJAD4Vw3hhKobdkBcweMqzBV_4JKz31IED91E2A4hFUYZdLLGGl3TPjzFOXQxwBSvchKQppTQEeuKVk=",
  "id": "rs_095e49b6a96aa3ed016ab431fccf0887d0a0f85993760f93c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.12,\"left_z\":0.05},\"note\":\"The left bowl is clear in the left wrist view but a little left of the jaw center, with its rim still ahead of the fingertips. I’ll correct sideways, advance, and descend to bring the jaws alongside its sides.\"}",
  "call_id": "call_gOY5nMq4gwCEhIR8hLbmMfCB",
  "id": "fc_095e49b6a96aa3ed016ab431fe75b087d08bcb7757d9da1ed7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gOY5nMq4gwCEhIR8hLbmMfCB",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4133, 1.7542, 0.8101, 0.1349, -0.35, -0.2829, 0.9995, 0.0216, 1.121, 0.947, -0.8116, 0.0467, -0.2581, 0.996]\nstate[eef_state]: left_x=0.4135 left_y=-0.1113 left_z=0.0376 left_yaw=0.0244 left_pitch=-0.1781 left_roll=0.0549 left_gripper=0.9995 right_x=0.2931 right_y=0.0017 right_z=0.1611 right_yaw=0.1198 right_pitch=-0.4307 right_roll=-0.1829 right_gripper=0.996\nstate[joint_eff]: [0.4171, -8.3761, 7.6786, 1.7216, -0.0562, 0.2173, -0.0122, -0.0889, -3.6034, 6.4752, 1.5165, 0.1294, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c5dc24b8a75a830bd8178697fac3d939585fc53648a383d6f0bc769d808102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230ad3ebbbd2d60ce2031a8463e3c55c5df316511e46cf0b119a8a5b532d6075",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffe5ec611ec53eac83c0880aedba1fe7c84c89505a1be4748b43e101c720b4ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9995, 0.5087, 1.7313, 0.9665, -0.2455, 0.3153, 0.1455, 0.9954]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0008 left_pitch=-0.0465 left_roll=0.0022 left_gripper=0.9995 right_x=0.3804 right_y=0.1535 right_z=0.0448 right_yaw=0.1287 right_pitch=-0.3822 right_roll=-0.1828 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.5795, 7.2957, 1.6777, -0.0708, -0.0855, -0.0122, 0.335, -10.0718, 5.2581, 1.2918, 0.3443, 0.0757, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5549, 1.5078, 0.8005, -0.0612, -0.4294, -0.3542, 0.9995, 0.0223, 1.1172, 0.9455, -0.7898, 0.0635, -0.239, 0.996]\nstate[eef_state]: left_x=0.376 left_y=-0.1423 left_z=0.1017 left_yaw=-0.0178 left_pitch=-0.1136 left_roll=0.0315 left_gripper=0.9995 right_x=0.2971 right_y=-0.001 right_z=0.1647 right_yaw=0.093 right_pitch=-0.406 right_roll=-0.1887 right_gripper=0.996\nstate[joint_eff]: [-0.294, -6.7487, 8.9094, 1.663, -0.3101, -0.0024, -0.0122, -0.1436, -3.6855, 9.4154, 1.3065, -0.105, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4133, 1.7542, 0.8101, 0.1349, -0.35, -0.2829, 0.9995, 0.0216, 1.121, 0.947, -0.8116, 0.0467, -0.2581, 0.996]\nstate[eef_state]: left_x=0.4135 left_y=-0.1113 left_z=0.0376 left_yaw=0.0244 left_pitch=-0.1781 left_roll=0.0549 left_gripper=0.9995 right_x=0.2931 right_y=0.0017 right_z=0.1611 right_yaw=0.1198 right_pitch=-0.4307 right_roll=-0.1829 right_gripper=0.996\nstate[joint_eff]: [0.4171, -8.3761, 7.6786, 1.7216, -0.0562, 0.2173, -0.0122, -0.0889, -3.6034, 6.4752, 1.5165, 0.1294, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c5dc24b8a75a830bd8178697fac3d939585fc53648a383d6f0bc769d808102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230ad3ebbbd2d60ce2031a8463e3c55c5df316511e46cf0b119a8a5b532d6075",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffe5ec611ec53eac83c0880aedba1fe7c84c89505a1be4748b43e101c720b4ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIELULrM6wcI3UwaSwvfUyvctf6DoJ4NvLpTeeqrWv_UVOR790csJX030iQUFrGJIGjrSQ8ySDPH6KtFvYulDuQ9IM9tD0mNemy5gDmbWNQ8f-pmLRifKEjiTWhtzWor-2XxrBY5g5Be814WjJ8dYyqjYWI7SFjuF-nrA3AO5rT71_wpL2Kp3t0iWRFcdYRbL0I8Fqw4w12CcfTSXH4sQu9KDo0HMm1jaVfjuHRgS97OwUa7Yh72hsRGLZA6XWGKF9kQI56nhuJcEeTmQBD5JZUOVF1IkSqtov-7WtbYHfZReKWjjIA_UnP0qVAC3_r8L3NLojLsr5VcXWLQgN2qQlMWUtztLDzhM_2SdB4f6MwLWuAW6Pj1iTnNqQXpHuD1RaQBP2UaW8h3cjFLWvUxoiqiNXuYTKVAvRdEQU747R65I5Lcdlt41f4fmns7b_B7cXvAD7f_qmEKaWbIBoDOJNwE2gHUs0SeOPnuWI2W77nWM28DNuMZxhxkCNf5PYyhc9khAFRC6aFrDNxRxOxDvHzoP_C92rZBarlIYTtk9sInyBsY9HJM5-kmO5SqwjS4e0nh1Tuaka2bVDVO7VlaHIzsOMEX2LAPuNUKkuNqODQt7mizofen2Cw-Sa-Pd_cKJG2rnroLsJ5dPjmkuBM0bAcJiX84H6uFUPeHte79pjvWTXYLONU-aOoWu1-fqrso2YouoI_37NnjhTpjGB3dYi5v09AUlcz8Lu7zPeVKxMeKC05zuDzX1kHgY9tQ1YKOWx1OV3HXlx9SOl_LKGcX-q6E0GjXG7rrrQFsqwVYjzHO-aqAXbvNJ7BdWHBOXRdnUKWhb9e0A2GchXAwsD7AMPSCX1kN6JlALn5sKpH_xoQe5BvLUMgfyuLvVQE3_KXSvTGXz5qi_NMv8b-8GQDoDotzUnuoPJfXKb6H7HfaQBo_btKhia_IDvsf5xH39SAKNsG58psq-TIq1dbVj9sB6Kx-OpxMUg2UsOX6Otd6oSrSYcweoO99x6jzWA4Ma8-QtBlvEH6CrGWzZBrx83t2ssBNRoTSmH9pSKO-y2ztyqkSvurQEXcQ3yWAKiSTAzIRgRd5kP1nzc9oOfaRy6QQgsj4oAJxytamFhdgVu3kwAEFFEF4BL-cyioXDJLKf90Dvj40erpEFiI2rPnOW8Ie4EUyDSm7pPPp-iTpIadch4qdhoD6ShmFNIArUONfKtHqRua3-Y6iQHEg1gSwYgKfGJ9tWd9a1dB827Oezp8eUyHLQZjYsn-tUS2YAKGaQU8FFi3Gwl0KWNh_0plvc1VEm6MKld9IM7pJ6wIydpJCQ9Qs6EmGdUrLLqY8hm9F_0UZ7Q2koknrW3uLimdvVBv4IphNmMo_cimYdYrxifgms3zTYNbW1hjWYVX2xprku2KIikMFr3qS6LHI_qUjX7n-8bAa8VxaVbi723byhJjv79XOkc1b-yZXJE1zFIAkmhSUpAT7M0QGvqmMeKfNfmLzIwSyX6OH6lAqXP5a9_XBV3HvilOJl2d2hTf7X1u_RPeN7hPOJNcgbjVACkt421d6ecNvNx4kI3pa3zWglv0qhMFhZWak47WW58-53oy4nsgJRZXa3p0YF2E5Cs_g2dvV4lEoBwpdURPhqUb1y6yMXyumMukYcSN33jsohB4exR4f7LOMULOJIVP8CCb__NbzpsLUAw6KsU5PBy9QO0d66th2E9gVW_nMxZ30TUgRcvxUaiom-TZq73xfWMubMbQhAIHie9rBnxJ12soxMIf5re7uLMC0vdd0TjSkmM1qNzMmuAkOxBldczF8mcZn900Vwxxz-P0EnZC-gaRFp608-c6ohjy296X1LvqnkblmWy7TkRzD3ZbuxiFm6Sfwv7igdaoxlKy3OIkiy7n0E0uLw4iSjou3ceyEIyd7X_wWzOvcoo6G3r7aT55Qg4KiboDRvTg11l8L_ZXs79szP86G4fL4XiFl2RiFJFWwu50K1LArTLsmJUcZXf8JM33fqnnQreD_LVD3DDCFmu7UY9Go2bbMnvwYQ5Z_uYz61aNXmYgGelOPu38RYaX7-mbWGlKQiFhyUMva9oEVJL6xOoSKTKGX8rwvZesNzruKlvr9bjNGmyUQNE5mYQA27hNHLVdnDMeFQah7gaU4NcErOuqmNPQzf1ZI6JtKith93DByIWe48LKlDTtldXGOGJn8nfhRw3z3DVJ9h92iitPVmelaQ_1WMiJdmlmk3rmhKVLl7zRQ8KNreLqYyG66BYD-KIrZp6Hc7LLwmgRMacc0XF7E7YmHq5CzABoN1yF923eAlF0tUOOlljC4BBi5RfYNXE43SH3Ls4b_tyItsPp9V_UbsZTDoUm6bV8TglyLqt2HIanOXVWPYPXgAb5qNvvn54o7lkLU-17QcNsenjY2uN1RSBb8nnmvcUv7LmBQYOHn0lO_yuqvzbuE4Wqoz18c3ttD6qetXY_i761V555fpph86S8Hsy6Ewk3XUWl6cyAOpjXgh-pZnLdpeTEWBGnPFb6cqgp8o_VlnvhBP7W54kgOnWBj9DwbqjDN41tmFbq3kmMh2rznZPUVi71Hx1fpfK2ep3Q4tVvSn3_EbnLWgeb_bzyaNtexf7adI_neBpQkEbES-4LLIUHOr5Dj-G6uwpwBO-8oJFudFbv2b1OSXv4P7_IS1Pbp12Ry1thNP2hXQdKUs1puIe54ofSR2rFFyEZcQf1PeU3FSn1bF2oyobSee9QVkl9xD4owtrYHbSaLykUBQU6VubQQa7Gz_lXZ-vrLwL-PMT_AwY4M-PR8KWGsXrmAv6Y7t4ci3YCK7tQg79i_G1rA1gVQDyo3PJsjiF_YkXRCn8Rpwr-nQNqPMtNm2Y5EPzKpdQ7oUM7ThQ2hqCfj1kWe72hDTLrsiNMycfSc2VgSe0h4IOO8IHjeIRMHjAlcLSXilfSilnp4XinU5C2GmRi",
  "id": "rs_095e49b6a96aa3ed016ab432007db887d0a7b2eb7219645451",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.452,\"left_z\":0.05},\"note\":\"At this height the left bowl is centered, but its wide near wall starts inside the open jaws. I’ll advance about two centimeters so the fingertips meet the narrower part of its rim instead.\"}",
  "call_id": "call_BKYmou4AVtaicL06yHsESthP",
  "id": "fc_095e49b6a96aa3ed016ab432035dd487d0ad88e335fb873f88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BKYmou4AVtaicL06yHsESthP",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3782, 1.829, 0.9379, 0.0887, -0.3302, -0.2691, 0.9994, 0.0216, 1.1236, 0.947, -0.8143, 0.0437, -0.2588, 0.996]\nstate[eef_state]: left_x=0.4434 left_y=-0.1107 left_z=0.044 left_yaw=0.0354 left_pitch=-0.1782 left_roll=0.049 left_gripper=0.9994 right_x=0.2927 right_y=0.0022 right_z=0.1599 right_yaw=0.1233 right_pitch=-0.4359 right_roll=-0.18 right_gripper=0.996\nstate[joint_eff]: [0.3077, -8.5128, 7.2957, 1.2918, -0.0659, 0.2027, -0.022, -0.1709, -3.0838, 6.8991, 1.2772, -0.0171, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ad1594f7238f7d1a04ff9b161dc1017708e7bb94ad4e802f2df2aaa42cd492",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac83d74464cbfa0e44d6f7115555c41c26d9a4eb04df0c79bf22b1e7e4c5be3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d13a55bd4913905d62f1b21b8ffcb7871dad7d43db1c79691f0bba9e97e393",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 53 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8192, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.5312, 1.6806, 0.9237, -0.2649, 0.3218, 0.1612, 0.996]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.169 left_yaw=-0.0008 left_pitch=-0.0481 left_roll=0.0022 left_gripper=0.9995 right_x=0.3647 right_y=0.1536 right_z=0.0472 right_yaw=0.135 right_pitch=-0.3891 right_roll=-0.1832 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.1829, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, 0.7316, -9.1692, 6.5983, 1.3602, 0.232, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4133, 1.7542, 0.8101, 0.1349, -0.35, -0.2829, 0.9995, 0.0216, 1.121, 0.947, -0.8116, 0.0467, -0.2581, 0.996]\nstate[eef_state]: left_x=0.4135 left_y=-0.1113 left_z=0.0376 left_yaw=0.0244 left_pitch=-0.1781 left_roll=0.0549 left_gripper=0.9995 right_x=0.2931 right_y=0.0017 right_z=0.1611 right_yaw=0.1198 right_pitch=-0.4307 right_roll=-0.1829 right_gripper=0.996\nstate[joint_eff]: [0.4171, -8.3761, 7.6786, 1.7216, -0.0562, 0.2173, -0.0122, -0.0889, -3.6034, 6.4752, 1.5165, 0.1294, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3782, 1.829, 0.9379, 0.0887, -0.3302, -0.2691, 0.9994, 0.0216, 1.1236, 0.947, -0.8143, 0.0437, -0.2588, 0.996]\nstate[eef_state]: left_x=0.4434 left_y=-0.1107 left_z=0.044 left_yaw=0.0354 left_pitch=-0.1782 left_roll=0.049 left_gripper=0.9994 right_x=0.2927 right_y=0.0022 right_z=0.1599 right_yaw=0.1233 right_pitch=-0.4359 right_roll=-0.18 right_gripper=0.996\nstate[joint_eff]: [0.3077, -8.5128, 7.2957, 1.2918, -0.0659, 0.2027, -0.022, -0.1709, -3.0838, 6.8991, 1.2772, -0.0171, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ad1594f7238f7d1a04ff9b161dc1017708e7bb94ad4e802f2df2aaa42cd492",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac83d74464cbfa0e44d6f7115555c41c26d9a4eb04df0c79bf22b1e7e4c5be3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d13a55bd4913905d62f1b21b8ffcb7871dad7d43db1c79691f0bba9e97e393",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIGrEsFIDtjdbMBva91TJKdTfp_GM9g1b6PJgcztiqbYRAbnWDdoGub3ozDYnTBN1CuLhtnctizHhTknjloe3IkCQSUcZfwlkz4NS_7Xm_OBu1_6FRPC664Vh6Pp0OOHk5fuluN9cHLgpXpVS1fdLkvHdrVbABo_lwSO6JM2yJ_f-JWVOlnI2ye2rZbnrcur89Avu8DT29Od5l9B9BUGNsXDufJFg9mK8Jxmq1wSqJyBnWwQZsKfcRiLW-fWmbxmq5Jzynrt15iHpfCkvExozwdYJZbJFPczVf1tdpqKMcCMxR74oqVNGgqFF3LxXWn5v7jK98AnkLG8eG2aXZVTCjKwKwrPIGtvJunXf0T1Ie2jU6Et7ITHG2tw5xcUCwl5LcO9iO5u-kI91mj09bPmk4ExGugzgGgy0_x1VTg0ieBrnonZ0drOC7SuZ25Vv30qhNZO_zynYViQNbLaYE-8dlFBcTdaczkL4f2lJXAEPq9mSD8btVwb6-aVuIhwPJmAMoJ-gvC9FI5BU5Ycb69STJzLU9b97RhXsBAbH70FeMOmgs6z4W9rMoCTmCF0wuHLSZvuzJqHWyHrMjGj8hbBW97nLONHDe8fAOnKwWikANoLsU1MXpLI8IqL6lD7FGyt0Axi172mA_VOmf1CrD33Xo_lJ3J8l42ionwhdxrYmCc6iZtgr2HR1KvoOcQqOH99LJ5510s75qW_ywFryUzu8RaoIP2hnsdeCKd0XprH6f3Y0P_Ewl9cyfFKhxdlUPizX3DaOChgmuate8qUGFqx34AifHdP9yAUkEKR2CKCNSTLeOlfPBGJmeZ377Su5uhnpsCFxEqWJ_kauZ2A2xl00geSYei2mE2uTBKWc_-XNpj9LCPesc0nU_lq3K-tYvoeQCL38Np--ODZ-zi3hn6YSx2LJA7Zgu4dVa58X-A67OkPHzKJrV6ceWZ0uDrIyFZCr0LC6wIWuolRQaoR8BDsQBJ-2zljiXA_APfKRTHdjOFYlTSW6P9e5a4ifXK983iCJiipl8_JKYWwcHsjKqzGZ62bxXZXtu8QAcmQ7nLBYq52sxDSY2xnJuGHyAkGq6T3JaBcyhf56g_i8rnBiae2oGT8hn1zUnE0763rkAMkWSyxZfDRE0uQbpCHaYeF1yxRJB07nkXWxo_IGwvkCvtClvc5D4MvovwOaFPDKiY76YKcz4zymsX8XWbJFJWNBc5G_5LAY8x2yLkA5yoOyCusxzcM7ZPhq3gH_9ArwDhyy0yBkHFtZOQgYk-fmq8wZot9wkBBFmPi4QlQ-AlM2YgHV6lfweOhTnItkOobGrxq0kXuBBgoG9W52IRsBI-J56v1M4c538ynC1RR5LXMgLs2Psh6PewalJEnRs6yhetK0IJjjpox0P7F7C_PQnE2xbbiXoA",
  "id": "rs_095e49b6a96aa3ed016ab43205564c87d084e70d7e3110938c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bowl’s narrower upper rim now sits between the open fingertips in the wrist view. I’ll close here and use the jaw opening, followed by a lift if it holds, to verify the grasp.\"}",
  "call_id": "call_dSJgvgKngey5lpC7z5QNaMYg",
  "id": "fc_095e49b6a96aa3ed016ab43205cff487d09cb25cabc2c0743a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dSJgvgKngey5lpC7z5QNaMYg",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.8385, 0.963, 0.0631, -0.3222, -0.252, 0.0087, 0.0216, 1.124, 0.947, -0.8158, 0.0433, -0.2626, 0.996]\nstate[eef_state]: left_x=0.4474 left_y=-0.1079 left_z=0.0445 left_yaw=0.032 left_pitch=-0.1903 left_roll=0.0603 left_gripper=0.0087 right_x=0.2924 right_y=0.0022 right_z=0.1596 right_yaw=0.126 right_pitch=-0.4381 right_roll=-0.1817 right_gripper=0.996\nstate[joint_eff]: [-0.3077, -8.8957, 7.241, 1.453, -0.0952, -0.0317, 0.6569, -0.0342, -3.3299, 6.612, 1.2967, -0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4603d0607cb9f3a9c8d68869deff0f5288a0e889e31b0745cc62f423428108",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0619326f402505e5bcdac6a1320306a235af756b44b23164f98f9becdc44b780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c4ae9dfe301fe869fe465b812b724ed17026db5d1995a3080a42e8964c3ade",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5549, 1.5078, 0.8005, -0.0612, -0.4294, -0.3542, 0.9995, 0.0223, 1.1172, 0.9455, -0.7898, 0.0635, -0.239, 0.996]\nstate[eef_state]: left_x=0.376 left_y=-0.1423 left_z=0.1017 left_yaw=-0.0178 left_pitch=-0.1136 left_roll=0.0315 left_gripper=0.9995 right_x=0.2971 right_y=-0.001 right_z=0.1647 right_yaw=0.093 right_pitch=-0.406 right_roll=-0.1887 right_gripper=0.996\nstate[joint_eff]: [-0.294, -6.7487, 8.9094, 1.663, -0.3101, -0.0024, -0.0122, -0.1436, -3.6855, 9.4154, 1.3065, -0.105, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3782, 1.829, 0.9379, 0.0887, -0.3302, -0.2691, 0.9994, 0.0216, 1.1236, 0.947, -0.8143, 0.0437, -0.2588, 0.996]\nstate[eef_state]: left_x=0.4434 left_y=-0.1107 left_z=0.044 left_yaw=0.0354 left_pitch=-0.1782 left_roll=0.049 left_gripper=0.9994 right_x=0.2927 right_y=0.0022 right_z=0.1599 right_yaw=0.1233 right_pitch=-0.4359 right_roll=-0.18 right_gripper=0.996\nstate[joint_eff]: [0.3077, -8.5128, 7.2957, 1.2918, -0.0659, 0.2027, -0.022, -0.1709, -3.0838, 6.8991, 1.2772, -0.0171, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.8385, 0.963, 0.0631, -0.3222, -0.252, 0.0087, 0.0216, 1.124, 0.947, -0.8158, 0.0433, -0.2626, 0.996]\nstate[eef_state]: left_x=0.4474 left_y=-0.1079 left_z=0.0445 left_yaw=0.032 left_pitch=-0.1903 left_roll=0.0603 left_gripper=0.0087 right_x=0.2924 right_y=0.0022 right_z=0.1596 right_yaw=0.126 right_pitch=-0.4381 right_roll=-0.1817 right_gripper=0.996\nstate[joint_eff]: [-0.3077, -8.8957, 7.241, 1.453, -0.0952, -0.0317, 0.6569, -0.0342, -3.3299, 6.612, 1.2967, -0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4603d0607cb9f3a9c8d68869deff0f5288a0e889e31b0745cc62f423428108",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0619326f402505e5bcdac6a1320306a235af756b44b23164f98f9becdc44b780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c4ae9dfe301fe869fe465b812b724ed17026db5d1995a3080a42e8964c3ade",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIMJnwitl_BHPvE4hR5saQbHpJGjPI7XByG9__frgwiNmNipn1MWRvi-5SYA3f9cbUFEVxq-EuhGtPeEnEOegQrvSLuil6yRaOMv28HZt096bcFGuGbu8hiv7utUrqS_S497SRbBoVQkztlKcHVktACuM1E5SyM8Z9B838eeB_WgD25geF24y4xmEWzwnG0kt7lKwqm0EQqgmpiIsWqd_76jZ-jXKl4rrHgkskDebLGzt1ZGq2jKXiTGbvL4I2xYgmPJM6KXwtS8hv1A-Z9-WH5mTEV6TMvD5zF4E6rxLZnAPVLVBd3WK4m2uXgo609PGRuvrXpeJobHKWeR9t3O2AKHNTHIUbV0HhVTshZs3K2S9xmzh2PLzcA5GXToT1K7YPdsTk5WvhFPkFoVV_JqFPacEMa16i0c_rpCyidgEz5IscEBgcOQPIE_h3IDA2x9_dVDJVYn9Uwrz4bf_diRYnbkhBHTpAMqJzdhjVGCgfQXkt2CxdOv4gr_1KAhC6ei4TLe3wcCBRnJE0OIlFoKwdwvhU5zWC1feiwP6fZTUYmXIlbasdvqTnGRGorPUWjMMBTrxfyuPPkpNFXkQ-Q-cv8dqTLQ-JPYEy8n9VUNBmH80Rw9TubH-t9G533h1Ks8iKx9OPH6XTIaxU7kh274IswYaWMWaaxbYWdQtbj4f1TJrEFTqOGqR6YRf9gNR4wzulm-C3R_EoV8GJE8JVIvjwSrVXQPnoGKAKq2s9LLsC7oJhwMeKNuBkZiUE08ggK4s1q8oXF9iHJ-UZyYhZe2xTfbK7zvDPRyl5TKhpKszixqsoflLqzhATEclUecl8NiAc24pOq3J3L5j3uSZDiNDytO_IOnjclNiQUu8uXTglGWD6P7ovAPXADyrvbVS8C7lxixRhrfYOtrouxRgUCeBbnoxey5IGj3p5cZlKq_T_Oq7aWWs_65W1t1FV8iNFZMpfoJjSY_7F83F9PB8Hg0mV2EFFCxi-hVy-PnrndsfqbTZjeooSWOAM3WlyYXzW8eBYtVxSy7zeZPhMKJ3Zb2oKiL0JA-4u4QDS92XcqH2U36g04a8Uz9M0rKSnB1W7pryr8mqoCYQaJ32AkohZFhHn9Bx77BMpJmUp4yk_RiMzx0_sG6-HALVm5oXrKZvC71Gjjg76fHOEFWHObM9TKuml2Ox-shL7lRumPrQ6nCKSCVy0JhlFoFsZy4jXaN9EJFyKyQzZ5CrKRItkZ62nZ--qdswrHg8ZThtzBg1snEC0TAtDg0HQKHkB2qwIiGOvThHZpBgb8xXKCZhI9zsz6U5z9LeaLdpTlZlusNIGPXMyoosSQsR0VHmFLFUvhQXOv2OF8rbw5gM719ftpjRBqF7zoLv7djkUBM0CeqZj340td9aodj3NebsywXEQYn2QMoxudvIo0Fz4LF63NnkHxAmCvkQmVtCztjOcxxmJij575uwu9a1cE3i627wFg7YlKRPgGfAMPSWMyp5kKuWLp-rm7Z7CdtpyHgjZbowXzTQmFfCvS_JieMCgJMjpbjXyAsjeOemQq_RoHVDWAgMcBrJMT353PapHoUIh7UPjjy2rzThJMjbaxW3XCQ5_odcaNC92-nhdh_eMrme_5hIh9yg5am1KfT7RwY-VdvhU4Cg8mJzyvD-d4WqhuxI9-g0Ve85L3RiMqX02ChW0c7Jvs9gjdxovdHoQ0IZnFHM-RvZo2KxoJLbppqYLCpzzXJA5dRtR9V3ojBxDPrTKUxP0dEZPDnXKwrNVohFxNQyPA0k5YXDY1Xdn9aUiblasO7-MrETUe0oN7ed3pEPW0DfL8bPqIKphsoFgoHcR-2wZ2FA8QppXidG33a7e8sw6D8T14AWdUyQZNH3rzBRvBceGjHC4vUvPgEVmy6zOqjGpjYB9Nz__urarL45WZv-nqdfUPbVmcTvR_wyPKB7j6kpK4wNgHR0B1THOfRuoA8fh3mBEMptFn895WMgxfdBKW3DHrieDdLlMG0KJzqiy2xluvl0O2hZ2QmAnKt7LZbaWcXNXglELvG1AI7cW9POJqi6xtyDp8pH_nT935H1FuyNeWlACzXfBh1aNfpyZXL6rAPNRtF_2mfkcPeweJH6DjKxLHc50878fZXnImsUkmAN47UUd6nQ23NTef-WvZ0Znp2YHY_Xac5Hd_SXjQw1-TVjV2wARDGD5kqjJH0zHxjyLUF9sDOuJpDuaewK8p_yuA4WJNmkj4dvNb5DBr3O5jb86IcGrkm0TojCSZkMII5NvFqKGmuAzmSWlaprcWzUn3lUHSPdhSRvU6_E2j9JocfyC-hA2uBfc3txiGzoouHpTKoM_ZGOENtWkuJa6-coWJT5RBA2gIo4EQD5Lai6eTEeiyuYQWBMW_PlrZXlhcDkoXNHj6YmJoXuESzF6Ue9IbQytNycDmkBCVnzJoCe8LKeoaApV2yW0tmVMIOAv7ioSBcdxS-AjyR5J_HGXnmKDG1zIRdMPZ48hWZh5JK-zq1hOPJfPjU10UYlS-9_7mMU572D9VCp2CulKTSiRRdpnLXcV5D6WWphXtGgJbSx-jJDun93idc6n5khL2OdoEi-QUn5yTifSZYIaGAnNbCef4wu-zkmTZb8rlte1xBQyb4aV91D_PEV8Y_hFk52BGCztxoDa-H5ds5XORR9_Hyg6TkEkUMAYAH_cXcecXzQcA_0vpecAYgrazkbDFBL7KH8fVO4pmIiXxnAaLSZQeh25ptufGTWg=",
  "id": "rs_095e49b6a96aa3ed016ab43208f0c087d085adabf0a96ca510",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.005,\"left_x\":0.445},\"note\":\"That close was empty too; the jaws visibly met inside the bowl rather than pinching its wall. I’ll reopen and lower to the bowl’s lower sidewall, where the fingers should encounter solid material.\"}",
  "call_id": "call_rTnBJm4Smv7Gp7DgEjOI5c6x",
  "id": "fc_095e49b6a96aa3ed016ab4320b9c0087d0b7f0dc25582ff226",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rTnBJm4Smv7Gp7DgEjOI5c6x",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3672, 1.8984, 0.9226, 0.2588, -0.3363, -0.2687, 0.994, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.263, 0.996]\nstate[eef_state]: left_x=0.4614 left_y=-0.1112 left_z=0.0372 left_yaw=0.0464 left_pitch=-0.0983 left_roll=0.0185 left_gripper=0.994 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1262 right_pitch=-0.4385 right_roll=-0.1819 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -6.1197, 4.1094, 1.0183, 0.0024, 0.1441, -0.0317, -0.1709, -2.7282, 6.612, 1.3114, -0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ef0c0d51e6e57551179f8f3c23d8d6b86fdc76cb464b25e9ec986374c559b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfaf2bacdb990278ddbbb807e1f0d8e7d4d038ef76edf3cbd50f24cfb5429ce4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072a2324d5b912cdf9b91dc0f46ba0ab854e1a9c92f23edee427dd36ecbd79c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4133, 1.7542, 0.8101, 0.1349, -0.35, -0.2829, 0.9995, 0.0216, 1.121, 0.947, -0.8116, 0.0467, -0.2581, 0.996]\nstate[eef_state]: left_x=0.4135 left_y=-0.1113 left_z=0.0376 left_yaw=0.0244 left_pitch=-0.1781 left_roll=0.0549 left_gripper=0.9995 right_x=0.2931 right_y=0.0017 right_z=0.1611 right_yaw=0.1198 right_pitch=-0.4307 right_roll=-0.1829 right_gripper=0.996\nstate[joint_eff]: [0.4171, -8.3761, 7.6786, 1.7216, -0.0562, 0.2173, -0.0122, -0.0889, -3.6034, 6.4752, 1.5165, 0.1294, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.8385, 0.963, 0.0631, -0.3222, -0.252, 0.0087, 0.0216, 1.124, 0.947, -0.8158, 0.0433, -0.2626, 0.996]\nstate[eef_state]: left_x=0.4474 left_y=-0.1079 left_z=0.0445 left_yaw=0.032 left_pitch=-0.1903 left_roll=0.0603 left_gripper=0.0087 right_x=0.2924 right_y=0.0022 right_z=0.1596 right_yaw=0.126 right_pitch=-0.4381 right_roll=-0.1817 right_gripper=0.996\nstate[joint_eff]: [-0.3077, -8.8957, 7.241, 1.453, -0.0952, -0.0317, 0.6569, -0.0342, -3.3299, 6.612, 1.2967, -0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3672, 1.8984, 0.9226, 0.2588, -0.3363, -0.2687, 0.994, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.263, 0.996]\nstate[eef_state]: left_x=0.4614 left_y=-0.1112 left_z=0.0372 left_yaw=0.0464 left_pitch=-0.0983 left_roll=0.0185 left_gripper=0.994 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1262 right_pitch=-0.4385 right_roll=-0.1819 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -6.1197, 4.1094, 1.0183, 0.0024, 0.1441, -0.0317, -0.1709, -2.7282, 6.612, 1.3114, -0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ef0c0d51e6e57551179f8f3c23d8d6b86fdc76cb464b25e9ec986374c559b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfaf2bacdb990278ddbbb807e1f0d8e7d4d038ef76edf3cbd50f24cfb5429ce4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072a2324d5b912cdf9b91dc0f46ba0ab854e1a9c92f23edee427dd36ecbd79c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIQR8gN1tUm8sPARGMUItW-CiR9b15hS8I3MhAniG9_x10Zg6YeIsg8NL8pv6RkDOKpwn_o7dxDVIvSyYtY77SATnsaeQYXUexKKMEOmipsZSnhxkuXOKybakvAlDjBD0c13xmqnO-4qCNFOTJA-_4VvX-DtWDnh58HvJ1tvrUTJhkNO0C7q-9l4OKRlZO5-g2HQYfFrwDfdS_QDdjywC1UpGslCONklLoXs2j0EWbxwSK5HThDkFo6PX6zvkYJK6LNYE5SNid6I2uR4G_SXrGlh2-mjElS0b7YDfuemt3JLXr335Ub6N8mPgvnH240ieAZcNbX0ZMFVy2AePyIOsYsOta96AP3bsylfo48X1SUkRyIVPB6KOjTmZEKubX738Pse19oEmEqJxeKXPPu70EBTalCd0C3mXWtxWC8gHkobJDXL2gb0lP7cWkXnwKtD-ftsZ8IbLmV93tSygR5WfEx1yicUAGr8DJKWBk4AFg_UfoBz_-uQZh9clJvXn0vTup0jOLNjq8rPlzmt-O86LJ2PMgsXpXu9O1hs6IDQGN2i8v1SwCyZm5ly0FgJUz2BgRVKTowWZKqKdjEMQS7eWbK00gQAlxK94zF_flsuzIvYrMiMSBDfl6kZ41SxUXyPI7sUu9CrkyOaXHC1QNE7h0DYgtSVWLEXy_WDAfzs92iYYi8nk8LmH0hWddpT0RiTEsRETXHKIMspygUskgbfXm41jrjGag5gu6ntHCF9yRPRb5F0s8umBG3ywUy7fEH1djio5Ypt_aZPCnAqORXsGQCDxuNpt63GUx-pqt94dqKgnWQa3YlJEDFfEIx8g0rd393iONr7VEcoThxf5QXG52O5HroX0oX29Ba0RVnzOYkhdc41kFWz3VUZCZ3p38rufJly6YIC1RACdrpTArVGLcWhaDkXShTYEe_dfDILB_935OsBl6zrz_F6f9FCKuvHnTiKALqZASaDTp7oDO9YBNYaqB7NTFA19AfyuR-LgugUY4qUcwnTx99V_umFC54eiHGHkvgWbHrfdyDd51ZzqvirJ-6NOrJn0cDGtlyq6tlBj-h73G5zvI8kQkiqdBY3TcDcwDBUf5TFSapNhqUp3PksOjLL8QquH4jI815up3Dt8vFVQ0XFtUPuFxm1u-P1_KIVMBZjU3-ZAB8dpnlyImvzAEjNcL8i6WPLHVRDxpG4UR_ok0ihgmvlWbtRXM1uWWEvoO9NQOpAGe-Dpgx1KXWK4Z_rT01NDGt9BugwRYx58RFdScJqebS-qtGP6j7Jd1vk7cExUWFLLKsEEsNb7SfahbDO-qOcGfAl9mbarwUr5TEhAStbXUTKuOGRMID2mnDiLGFisS7dM-lkDTXdsornv0-TbDCR11mZdP0oISR4ki4ROIicg8GRjlH7py5sGjEEWc6fVHzAbgoglanN2ltMIL67v_l6VUrEJiK-9GRTVz2jGsoAUY_90dztNxcpuDVh9RxLXAlUPMkYvkNTq8C8RwU78YeuQ3OIfdfOMyWPy2FgyHNt6SL-wGFkdfj6bTxQiQKtPBFQSjLXrKoawdIM2l91OSYrX04_uGEa_8JdKK4l94-Z_k8R6RNlVuVrttziNhM6khFNixghLy_u3Z_tLe1m6UvATJVqhNll0yhhQzp6GgLVwuOq2X44ZaML-jf1GmIKCR0Izub2hZrWrQhRIsqJNHcwkPywmnE_3FfGlHX9Pa8WBGc_fFyZ-tCPrFY9iJa1wxymFiNZhPPeSh2IcTDm5ZmQZtROCCZULYn6jSSxlMKR5ZrMCPGbacRjK09p0GL5WX4cXgA1lade1AL_6OdGzsvsf5fl-8xOT32SJoJVxmB70mX5JoQOLJc0GJaBf0gOSEM-xSEMM-kDBV5iibcBwXF_nLQAwV14h5pDXDyJNTfbxNOitN3dTGFGzJEpyXf_scdSZdClIQYFy995nhdaMQDbxCZnDUj_6yp8iHdHgb3pZ6kXuMmVYCMuvD-GHe0taQ1_-GLqF8YZ-S4-7TxxtxXNe1x_foP0yLlXVo4BhDvOIlbAMTdPCABEWmS7JpYhCMwiVjlqp1PG1tSx4PWB5T3UnzzG5eiP9Oaaeg=",
  "id": "rs_095e49b6a96aa3ed016ab4320e805887d0b67d040525deb1be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped about three centimeters above the table while the open fingertips visibly flanked the bowl, suggesting contact with its rim. I’ll try closing at this contact height and check whether the jaw opening stays nonzero.\"}",
  "call_id": "call_cO4OxolyWCXKlHnvLbIhltkr",
  "id": "fc_095e49b6a96aa3ed016ab43210065887d0bed14e0c17a732e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cO4OxolyWCXKlHnvLbIhltkr",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3672, 1.9038, 0.9222, 0.2657, -0.337, -0.2771, 0.0084, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.2634, 0.996]\nstate[eef_state]: left_x=0.4619 left_y=-0.1112 left_z=0.0359 left_yaw=0.0515 left_pitch=-0.0969 left_roll=0.0119 left_gripper=0.0084 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1264 right_pitch=-0.4386 right_roll=-0.1821 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -9.5795, 5.7094, 1.4823, -0.1001, 0.0757, 0.6374, -0.1299, -3.2752, 6.653, 1.2821, -0.0171, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b634e8de38d93cc9cda05885d965a6e6bf34dd42d874da6dbb8e0b5cdcada46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10220a96eb496cae4a67358598e39565c936589324e52cb580bfe98fea8cd6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6b6106b9a2679e7b6165d60870d731c1b2b386bc31e2197a5449fe1546e546",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3782, 1.829, 0.9379, 0.0887, -0.3302, -0.2691, 0.9994, 0.0216, 1.1236, 0.947, -0.8143, 0.0437, -0.2588, 0.996]\nstate[eef_state]: left_x=0.4434 left_y=-0.1107 left_z=0.044 left_yaw=0.0354 left_pitch=-0.1782 left_roll=0.049 left_gripper=0.9994 right_x=0.2927 right_y=0.0022 right_z=0.1599 right_yaw=0.1233 right_pitch=-0.4359 right_roll=-0.18 right_gripper=0.996\nstate[joint_eff]: [0.3077, -8.5128, 7.2957, 1.2918, -0.0659, 0.2027, -0.022, -0.1709, -3.0838, 6.8991, 1.2772, -0.0171, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3672, 1.8984, 0.9226, 0.2588, -0.3363, -0.2687, 0.994, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.263, 0.996]\nstate[eef_state]: left_x=0.4614 left_y=-0.1112 left_z=0.0372 left_yaw=0.0464 left_pitch=-0.0983 left_roll=0.0185 left_gripper=0.994 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1262 right_pitch=-0.4385 right_roll=-0.1819 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -6.1197, 4.1094, 1.0183, 0.0024, 0.1441, -0.0317, -0.1709, -2.7282, 6.612, 1.3114, -0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3672, 1.9038, 0.9222, 0.2657, -0.337, -0.2771, 0.0084, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.2634, 0.996]\nstate[eef_state]: left_x=0.4619 left_y=-0.1112 left_z=0.0359 left_yaw=0.0515 left_pitch=-0.0969 left_roll=0.0119 left_gripper=0.0084 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1264 right_pitch=-0.4386 right_roll=-0.1821 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -9.5795, 5.7094, 1.4823, -0.1001, 0.0757, 0.6374, -0.1299, -3.2752, 6.653, 1.2821, -0.0171, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b634e8de38d93cc9cda05885d965a6e6bf34dd42d874da6dbb8e0b5cdcada46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10220a96eb496cae4a67358598e39565c936589324e52cb580bfe98fea8cd6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6b6106b9a2679e7b6165d60870d731c1b2b386bc31e2197a5449fe1546e546",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_095e49b6a96aa3ed016ab43212dabc87d0ab487192db20bd31",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIaigYcaIsL6XzTZ54_lpWwHuzZ8yqCPs3f4iLgQMTc_dS71Jx1hEM4mK9uD9sC46mVqQ2heZM71hVAmTri-Z7uAdqXRSAm586nQjqpOebPRpwtqEgd0Rhxo77XuLFkKV0xW7TIvU4Ip_WF-gHCNedOtYSKfUR1QghmX2q5o4MtiWrfOByXHb8nkXBwDhYfE_QqYBCXwOv8CDxL8hYTnb035Y2Y_2Hqg_nc0Ia3RIZ0uBVxpiMtaYudmSLE_hGUzVP0wAbN4n6BKOF6k5gC3NhJF-rtW3vJrJLmUuMqg9i5ocU_2xXGeZJGPVwLeJKgyanoGqS-F3hkJOU_-F1o-Qr5O5vyMIMTLth4CfmVRNpIkucghGcT2pvPNiJtDJK1mMKa767u8omzkxRBkokuVvtlmv15keQqPDC3tni7mCqaxJxvcpsUWtYEnU08QXvYQOCf3IMqz47j8Lk4kyPOKmgZcDUH5jr2jpj3iPtxaGEQZuVkj0OylMam4nS_kc-XGjODR3qjyU10L7wPJIDMFC_ve3rek38h6bN9O61B7lu5Jel_9wguqqvbPY4jUHDH5huFvgF-ygMjwqMbK4CSGv8DhWPsZfOqkJevW281p1gQZNNUw2rdiiTF6t6AHdHZ9OHA8dvmZ7aR-X5Bxn_ZXdu_Jsylx6JaIv5QGwXjO9L6RWl-Rem10-uPlnRJW_FDlA7MRWjSDCy2Xvvln0Fco3ZmqsCRMa412mfqUB_z9LEPxTkgGItPsEqAq3KCOm9Ctn2rkaaZtq9zvv7QgirOqKYF4mO_asK4G0uBr-JNnjcGFqWCy8_EYUlYSm1TIWMV-RobUssSWGOAalE7zRWhuGNAD2TteZNFX_dNZuugqMr6KcYuUMilOma3a__eXs5WLEOi5Ad5AtXJyJkKq0F5cSrUXPFSlR347tuqZ66cWYMd1Fdf4fCW9jQz1Vg0rshI81b__s9bnnwywkT4CGTM_3pDry5UhcRYO1ORVPXIEiMiwE_Emrz8cQekDGDDFFGdtor7S4D1I80aMwVCFqE78-nE-cUfbi5n5aRfNT1PXjHHDeM0MCwcpkeoO06AcCR14oe0dIeCvxirMTokUjMcVHrRRUGwDuwPmVx5t2QC5aldoPuK_EaQHsCA_ktmZF3Sc_auL5DSPvltxtMdmBj6BrOAbKE-4lYPAF0exk7nbGQl16T_bxjs_WOqhIAQevIDV7oFKbY8HdXheeOanoK6a41_AgIJ3YIVz5nPH41y7n6gutC8Gjb1DHGgLZSht5B8oXXzRbLnvFFrEWB1sLwFaoeMkcQlCmTd2hZ9SqfnQOBDLeDTdtbZ1ZmWI9hz82oJV6JkkNIt96XgR8OxCu5fji5PRwS8b9rnouF2m9Rpn82e6mq2uLrtRJx3Fq3jRh--nocGHRTrJ9O34XJeVmJsk_HHFNRgGvnFclL_s3IDrKA_gambXCfJsN1zG8mqck6-OPdhIx1b8HXhBWwqfrmVwXXBMKViYejpeleieSg66VevAzNmxbTVKI3KojFIZGX8Sc9cjK05Hdix1bL1cQVpDdlQoSkI2W-PkxuHvOqKKOxS_KBVHm9kIP9relxD4xfXdSii9LvrVxLVZIFf30GVoJ-ST17V3uQgi-cAgAKRYSwLOzLJjEjpLCdcJGx6HTh8Lj9wmmDs2gU8a2vSISHHYf8ErLRAXnPHYrnqmCp73xb1czGpv9tEUsR8oZZ7e44-v4n4InIx9NWyzBmFsmXeavyLbWkWmMBsoviUDt_7aXSdgZADC2UJLxrtAV4RXH3L6jlAHaGrvnS-wydnj54g4oQwHvySzkMkuQN1ZEcwdpWlICevP3cGqR-gdpsbJVp3udR8",
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  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.45,\"left_y\":-0.17,\"left_z\":0.08},\"note\":\"The centered grip still closed inside the bowl, so gripping across its full diameter is not working. I’ll reopen above it and move to one side of the rim, aiming to pinch a single wall between an inner and an outer finger.\"}",
  "call_id": "call_8rShJ4SE9UrmpOf0od3SOIhZ",
  "id": "fc_095e49b6a96aa3ed016ab43218daf087d0b1fe52e258ab9280",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8rShJ4SE9UrmpOf0od3SOIhZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5247, 1.8812, 1.0367, 0.0303, -0.4423, -0.3935, 0.9944, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4429 left_y=-0.1649 left_z=0.0531 left_yaw=0.0471 left_pitch=-0.1467 left_roll=0.0334 left_gripper=0.9944 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1278 right_pitch=-0.4388 right_roll=-0.1835 right_gripper=0.996\nstate[joint_eff]: [-0.4718, -12.2598, 8.5128, 1.5702, -0.1734, 0.105, 0.0513, -0.0752, -3.1111, 6.612, 1.2772, -0.0171, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7915fc2435938b27480eb83c04b3a71894ead13abec34aa557f59aa4442c52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7058b0b4accc8f9097c3359a1eec77a274a42d6e0c86cdc987df35a5d62a8f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3599149005420dba5535320f5e52c4c271711514b6bffc0cf4f169a2f1424f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.8385, 0.963, 0.0631, -0.3222, -0.252, 0.0087, 0.0216, 1.124, 0.947, -0.8158, 0.0433, -0.2626, 0.996]\nstate[eef_state]: left_x=0.4474 left_y=-0.1079 left_z=0.0445 left_yaw=0.032 left_pitch=-0.1903 left_roll=0.0603 left_gripper=0.0087 right_x=0.2924 right_y=0.0022 right_z=0.1596 right_yaw=0.126 right_pitch=-0.4381 right_roll=-0.1817 right_gripper=0.996\nstate[joint_eff]: [-0.3077, -8.8957, 7.241, 1.453, -0.0952, -0.0317, 0.6569, -0.0342, -3.3299, 6.612, 1.2967, -0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3672, 1.9038, 0.9222, 0.2657, -0.337, -0.2771, 0.0084, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.2634, 0.996]\nstate[eef_state]: left_x=0.4619 left_y=-0.1112 left_z=0.0359 left_yaw=0.0515 left_pitch=-0.0969 left_roll=0.0119 left_gripper=0.0084 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1264 right_pitch=-0.4386 right_roll=-0.1821 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -9.5795, 5.7094, 1.4823, -0.1001, 0.0757, 0.6374, -0.1299, -3.2752, 6.653, 1.2821, -0.0171, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5247, 1.8812, 1.0367, 0.0303, -0.4423, -0.3935, 0.9944, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4429 left_y=-0.1649 left_z=0.0531 left_yaw=0.0471 left_pitch=-0.1467 left_roll=0.0334 left_gripper=0.9944 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1278 right_pitch=-0.4388 right_roll=-0.1835 right_gripper=0.996\nstate[joint_eff]: [-0.4718, -12.2598, 8.5128, 1.5702, -0.1734, 0.105, 0.0513, -0.0752, -3.1111, 6.612, 1.2772, -0.0171, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7915fc2435938b27480eb83c04b3a71894ead13abec34aa557f59aa4442c52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7058b0b4accc8f9097c3359a1eec77a274a42d6e0c86cdc987df35a5d62a8f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3599149005420dba5535320f5e52c4c271711514b6bffc0cf4f169a2f1424f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIhEzRiaRqm1DlfMYir_HTJDocoQtDxqNfyXRld27qbG-2MCM4XnEq9tFMRF8HhthhkhTflD8LSyGqg2fW8jDXGKzfDX0uKuIaL5nb37yXsD2WT4SbHnbq4UlkBYtYN6ECI5DG4tj92TcIYIWiiVraH3VO4QuSoRjnb50R1VTfprEtMeZ5kDHLfwC0jyY0MgX9ojkkUvfdDJ1qu56kyNpyLAUJQTFIWWGe0Rpc2pHpDluGJYCT03xbNInf8L7sjIbQ84ivJhoM5qyFTE9yhs1sLD1WKoWbz6nmYFluMJRigO3dnXqbaX3abRSsEv3RS0JhvhyqPC6S1t7ZB9k9I2zBz5YKMh9LjoNU0uUqOLqMaxUzohLBf5C3Iksl7hilFuydD1u2tTtwF3SOOZDZs5k9YTcJdNS5O8vxEhGJjHjFus6R9Wdxy1BkYakzfyiA3HvRarr_olWC9wppcPLmQNvWJd2k7AV92CVjmrxCRTHGJT2YMQMzLcxa0CpGLEUqSxMqCrK5ZfA6Il04XEJxlyWYSK36Xh5qEtmcl-ICkLIT0BSI6eCbw-MePEodmHK_18k1q6nLbDcwHL5E7pnY1Q67QlBLbMRrbFspWzE_hkjN3ehcOcVz4rYnp9ekQOpjXVCE66IN-puhBFZdnGbGz-ejyDohsh843-tsfNyg8K4LD201thl7-4APkJtZCw1sUyHnrZW-MvguJGE29-iUWXKcqFs7XIUN-GUw7OG84KTKrtRZOAOoG5T_xtsZkH0qVohqG3LQr8E9WR82mweA3_uWH-40U2n4EtznyNrsr8S-gcqBYdQXJqIQM7Dkg2nIyut5zXVgQ2QbagxqQuduAxeHx7hUPlaGjlOGHVZGVEhNtFaz4CWIE--i_QXzWnsdvTRODQI6LrI2UPTkdcpeNqhICe-qCLJwd9ExTt-eHYY39rJHjMgVMvX6E1D0AncAQEjwY9hFmsGj6R7KtA_mjlJINRYLRbFkIa_U3-zy_HgofvuygJPc5BN9Qykiq1GE1k3wjbE7GBGsmDh_ZaPRoRWKlC-fNje8tKCgs1yBJ1kyricRt7k_hxahEq7dc617-XAZWCHOrHurtHaq4L7_zaye40NWh9xGwttFNHjp12K14b_Zg1rkXf835HzFAVSQe1NXvocFG-cCBjb74adhyoudDXdcuN1-L8ePkAT2myEEo5fQKug1fJBS3gqqQu51xmlVf2JttI9yPoUHKPOKoBmghwn3EE9PonWaLrVBAf4_EEzZomzmNFdGim-l1-PW4inlBPhOZhWR5zcj3fLvUOu9o7wp6iFYUCLdI5QcIRVknpYOG7hEgjrSmgzmZIGnuLHZwqEHlWMTBBr-doutLIow5f0QeFfj2UzAWe9IdKYI_m24iNvdwuh-zeggptLPzBOfS2jEAlcJwAN3EMfbUff_Z60YZOmyBcV2Wzp2TAjjlPhJBQAgRDqQylwFgqX4z8WtplUYrbOCeamjCsXE72b37DMa5kk87E_DWoJ5IXzHwDIxqPEtozZts9Tu_jsmuupygQTFUoM2eYV3MIarUjCpBPXIVsvonHQgVyy90Yz7OfkkCnS3085VMEywggr0L9OeCdZrjJpyG6dNjiQwAJaT-glq32h3k5zZWRehgdaCPjnM4uOSxcc4a1rcU7qjJXDcEGIFwT2Qs4pDucy-WcCyXurUsPhgFnC64-gbdawUgYLBFMOivZYk2xGRtLGQpf0FiGrVIV8wyKl2Ku-F6HdNvJECjWdo1k-KQ-v-8_a9sZuHIuQV8wHh-TOD3tiAW1uUhO_E0UiYvBdbswEpS3DOMU75yEkTyxzKe5esbZ51Pf8rOk4KNzLkSFtLK21KAj1qSIoe1zUNmXNW66xjJUzY-EOXX86ZqVM0HBijT0bcdjcLD9lCC6kELp7u5CY32lrzgjAaONxutIU7MpyrxWKszyshTVjBYZv69HVVTAXxH6lsH6dm3c18Ct7nqbJn-RVtE4xjeJrWVOBNhtxGDIiKplzM7n4RjKcwxYekXyTbM_NXDeb_QaKKjRpiiiv91USkFNFugGeqjtat3KY6hBp8hVHohkJR8qqF4yvKC13XPnxrEeN0yXEyszp7cQTjIZ0V3cCzJFYlLA51WzNcWEXzqJ-Fkm-xTc8oxB3q3Rv2_4rli9LUYUpCEWnUFJqolyHke_39WWGiWD0G0sDU06BNWH7N6j2oLLTxA9V0atZYZp4eJVBNDySxgCSN-rqbg0Eszknfj0kFVjCkgoHnlU0jTvtZUJbVfNadLcwK0V7TTmA271l-fVZ8_Y5ESZRpz74djfBD2E9CijYV7_7qokkSjOFUCFZCsZ-znM-SyUSQfTIJIKVGaUdo5qRkRRXVk42ROPeOb7MSVI81bW0kOuoY__y9b8kh3ltXs72j4m96UhWM5395OPRL9mrysqh6D2HQROnnNZBqeKnnl3IHFC0wqiLNqjerd4q78MI8g-asFFSBXTe1J24vUTQLoINjg3l3zZXACXSpr2pQviQ6IK-g_hLrxy-evjK2s3N5qj2KW0HDTpAxLkG9G5ruwhpBcdFeZqIY7I1e82e2j7_hzY7lILBodTd_PpNIKYKwEKGfOLDALeopGjT1nsjiAqplYikPcDDrEEUzDF4-ZbuvCd55XqRJdgbPhAfv7VGztUx-BQw71hV2cXMqSqA82_ca-LaWAOpSlzB5b94PnpHYfAagfovpAckkSVGGMg1nVE5ewEWCMp-WoTrO-aYT9FMKbi5QGWRCcmmKSZm4URYrqzK7I5GXxIR2UA7VJsQ2NusHV0tODK4MpXsVAQvz85kQqwN5YrhYLhW7o2u3-Cc_Wzn927r04EluTv-ijf3NgmEV32Yz72hDXK81lAO9rWrPQ5dZuN11tw0D1jCsua1C9Moa4r32JiDBOi7z1u6vNe2YseMBKPLwJLc1GLPVJa3VcgIqezJS7nLdSsdSm-xOSf2ngO5IQqKQZ75KHY4CRR5XlJJHyngUte8bG9NUOmosdH_qKcFkCpVUxTaGRJo750MYOxmFQCqr0mfI6nQ25qw90YDEK0RyDk5frT1eM3sY-I4QGtQYLmreydzSaSBGw7Dk9YWbkLXqWiHJzlczrctX5EexVrkySOaQfn1ogp7qDIiiUdVX0s0QPb_iFwWzD8ruZ0qnA0i7NX9pY-nqZFvmCL9qF6Yqvbizmf4nZmbbBcHqf8XhwSsoi7o2Sz8iE6HYqC8y2OKoHJgPv4AvO-ZeW2f6QBjZ77naBBi4b1yM1Uq2sTWN68sMCLN4hY85cgAZ4Z4gliwqstm_Uqklt9O08P2zu1XWgn3S5PyZFhubbQBOmDQ0TSFQE9sSrTasNGMs-7XDq4Nc2phl8TK9JkNV-XaqGi3vbbAJxU2ReQsWJ85lVqAX7Io9qWiNYdfPXJbvkCQ==",
  "id": "rs_095e49b6a96aa3ed016ab4321cdf5487d0a139466143b0533b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.235,\"left_z\":0.09},\"note\":\"The open gripper still looks into the bowl rather than at its wall after the first sideways shift. I’ll move farther to its outer rim while keeping the jaws raised, then lower only once the edge lines up.\"}",
  "call_id": "call_njYHFG7JUntFVv06TbIZqvdN",
  "id": "fc_095e49b6a96aa3ed016ab4322084d487d0b92e0bc7c79e90e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_njYHFG7JUntFVv06TbIZqvdN",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6643, 1.9381, 1.277, -0.2081, -0.5213, -0.5121, 0.9951, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4416 left_y=-0.2295 left_z=0.0849 left_yaw=0.037 left_pitch=-0.1533 left_roll=0.0242 left_gripper=0.9951 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.1278 right_pitch=-0.4396 right_roll=-0.1834 right_gripper=0.996\nstate[joint_eff]: [-0.5402, -8.8547, 8.6496, 1.2576, -0.3639, 0.0952, 0.0562, -0.0342, -3.1521, 6.7077, 1.2479, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d52ab6a709db6a528e73a60a5edbdb992593a6bfdf2897433e6d456e05a62ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573bbbfd9c5651b7a22e8b20f5cd842155f23baa46726fdcd90b89779a7c2581",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b70e204b7d1cb86d7fe280807fc6bb69226e36cbfef7f056c3959b9be2e5bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3672, 1.8984, 0.9226, 0.2588, -0.3363, -0.2687, 0.994, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.263, 0.996]\nstate[eef_state]: left_x=0.4614 left_y=-0.1112 left_z=0.0372 left_yaw=0.0464 left_pitch=-0.0983 left_roll=0.0185 left_gripper=0.994 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1262 right_pitch=-0.4385 right_roll=-0.1819 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -6.1197, 4.1094, 1.0183, 0.0024, 0.1441, -0.0317, -0.1709, -2.7282, 6.612, 1.3114, -0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5247, 1.8812, 1.0367, 0.0303, -0.4423, -0.3935, 0.9944, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4429 left_y=-0.1649 left_z=0.0531 left_yaw=0.0471 left_pitch=-0.1467 left_roll=0.0334 left_gripper=0.9944 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1278 right_pitch=-0.4388 right_roll=-0.1835 right_gripper=0.996\nstate[joint_eff]: [-0.4718, -12.2598, 8.5128, 1.5702, -0.1734, 0.105, 0.0513, -0.0752, -3.1111, 6.612, 1.2772, -0.0171, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6643, 1.9381, 1.277, -0.2081, -0.5213, -0.5121, 0.9951, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4416 left_y=-0.2295 left_z=0.0849 left_yaw=0.037 left_pitch=-0.1533 left_roll=0.0242 left_gripper=0.9951 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.1278 right_pitch=-0.4396 right_roll=-0.1834 right_gripper=0.996\nstate[joint_eff]: [-0.5402, -8.8547, 8.6496, 1.2576, -0.3639, 0.0952, 0.0562, -0.0342, -3.1521, 6.7077, 1.2479, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d52ab6a709db6a528e73a60a5edbdb992593a6bfdf2897433e6d456e05a62ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573bbbfd9c5651b7a22e8b20f5cd842155f23baa46726fdcd90b89779a7c2581",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b70e204b7d1cb86d7fe280807fc6bb69226e36cbfef7f056c3959b9be2e5bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIlGRgWQQ4NzjyNxIK9Z6WiVKROK7tH6ssqiJyKi94qAtOIlTLmXVKFXEOfM9hBOri6Dxa5aGsRNuovS-zc20uBs0VCRpkfAH2souLbh456P6Iv1O_JatqRnUKStMw4yaHd2CJc5yb0NZQx60xFq8igDhNrqKidSWrSzmEDnYBH7yorK0omHj-vkZwhp1IK40bIcrzzbapTluJp73aOw4tzvxQM7_hSxScbeiEMWPv_pMwQIJ0bGN-DhrRkYqlVebZJG4unDd1mWIXBVVjWm97N7uiBE2QK94_wECPZwZpcT4TQSw5kakxtR2GzSqe3tFDLrRgdh8d1cFkfIsOfe3MK5ckYQ5ZZUpA10jBqT2TMs8tLevQPJnTQbOlJhfF6Y8Jo2toC8XF9_g7VjRDxIJe5CHckiU56L-wM_6MRrL3Z3Yw-zZ3bJ52gp_EPQ5KZFo2reSth1MIJ06R5Q0c79qrR2sn7GYLwM447-XDrouwkAR6XYkXIJRTqWU9elIt5DLPGHXHf-d9T8lbRpTLzRtkPva5ZD1IUpUevuCw4LAKnYfxQV7rfTZE0NwOkfpco6LCLCbyYuNdETG5tQi1vMFoqQMYE0y7eX5V47hATNeljCdBgvtPKtxgKh3ECTjjlam4rXkuPCzQX2Vd0D3hCJmRPQ--55GtA22_2kp6ZvxQW2DppgBN5pInKTLhWU6_U5tiT7ZxL2sef-EpxKd6GK7ezKbKQO5n-ZzM0B8j_Yu6JU63J4P9RWrGuJRLHvyMfWVtsh59vX5o-wK0QLrAf1B6pxTqN6Iv0sRxjeEcEIqR0eDCmaJsEDCM-68wmCxIDCfT4Us4eJmhUI2s2At0Nfq8yLZ69j4Q78JwSZd7E7vz6fm4cIEdMQnrp58MqM1f1XPIah-IF8RvII1qdncTsZ3lXM5O4i37IsQ_SmCLrOI21zuvfE9RAYOsM2kCTUaqMtRPpEHYVHujCyoxU8UdzghKgj_KpbpKlFe96PFOX4usopkxEqh02dM3c4nG_O8vJhHkQoh4Iiy_rUAp3iUzj5BjyEOWsBdgJV15LVBu_jrGnI32_tRplsNK33NHArw1LBG7ib_XNCLo_QuHGokhSZVzD9fqbjOCm7T1GnqRoMLFb3NNXMq0waQJ650SiFcKIDHhDyTVmYS8f4NqRwe4Ym2ApLTjK0j9vl57ctdclMMlgQpKTqrB6DDzkhZhutbBOSBGyF7aDy-KGStCzcbSLb7aYioknnrb07toOIpacsLa7OU7Lkx3RUgE1lhrscld91_ja9zxpGxgcmoUNBTxjJN_9YZrHiDXkmM_yeWxXe7mf_kCfDwbTXZZlPSdQ2qcI1-hVF6M797JGBsMFuOGU9VGtw01LlAEEJxubCDVALzgfpbdK-3-pIpt3VA2TSsMjVRNmxSdo4Lpy6QWrufhzOkt4lvYO0mFGUeCb6KKzf6BVeIOsDULtOo9WAsQ_h2TT14d2qJFlLMV80oT7cAm0HgzWPIvPbaaYujApJfOcyBEs8XFdieiFSCX6-fVmdmNOuMu4QLZEkPvtYTRugB-VeTGihTOVKLfh-Icd459P9PeMac66voPapPqPwv8JqbxwOWyIVXH6HgRMd00l_cyMEoRH1hqZ1a5g-GYGbU6HUYO3cLw7cWnDSzAQCEDu-lqeRgoh0TDYRBKv1dF7MdHs5cuODLVnAxW7uM2EXRcfZAa57Woaigv58AzV8E_O9nH9W3ddk1VvhPRHDj3wvt2AUu2YeZWns3co01um8MxfyRuIuphRPuZLKOc7RnkCo9my9fcykXsI0b9bn0RbayHFDEj5F2v7bIDptDc4KPgfHCq3FacOoSEvugD1VVAQVsUle_9gWI9KHIBsjkIGwMk54MNDIbLTqb-9U6RZbO5tRLNbhSnEVqX5DVHXHnU0DL0Fw6Xp_jstdgXi9pL0GaWgpjfqWZk5GaY5IcLCdwWtYn2e9Lg=",
  "id": "rs_095e49b6a96aa3ed016ab432233cd487d0a627a4e53b8cf571",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The bowl’s right-hand rim now lies on the gripper’s centerline in the wrist view, instead of filling the space between both jaws. I’ll lower to wall height while keeping this sideways alignment.\"}",
  "call_id": "call_CgT2B0mUZF7d8OTgCHdUtTci",
  "id": "fc_095e49b6a96aa3ed016ab43224a7ac87d0bd3bb18c9d06ab6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CgT2B0mUZF7d8OTgCHdUtTci",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6712, 1.9842, 1.2228, -0.1249, -0.5251, -0.5228, 0.9951, 0.0216, 1.124, 0.947, -0.8162, 0.0437, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4377 left_y=-0.23 left_z=0.0556 left_yaw=0.0406 left_pitch=-0.1642 left_roll=0.0297 left_gripper=0.9951 right_x=0.2923 right_y=0.0022 right_z=0.1596 right_yaw=0.1276 right_pitch=-0.4389 right_roll=-0.184 right_gripper=0.996\nstate[joint_eff]: [0.4991, -9.7983, 5.6684, 1.4628, -0.149, 0.1294, -0.0122, -0.1436, -3.2752, 6.5573, 1.2674, -0.0122, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175c7dbbf2068d2327a30a0964eb80323ab1e74b34b25e14d03e58f270172e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c61a2a26b793cf5f5c56589991ddc29b4243caea2cfb75cffa795cf1086c4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f5063aff783bb2e920c68a87edeecaedff20ce20fa902dc132044bfc2fb622",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3672, 1.9038, 0.9222, 0.2657, -0.337, -0.2771, 0.0084, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.2634, 0.996]\nstate[eef_state]: left_x=0.4619 left_y=-0.1112 left_z=0.0359 left_yaw=0.0515 left_pitch=-0.0969 left_roll=0.0119 left_gripper=0.0084 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1264 right_pitch=-0.4386 right_roll=-0.1821 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -9.5795, 5.7094, 1.4823, -0.1001, 0.0757, 0.6374, -0.1299, -3.2752, 6.653, 1.2821, -0.0171, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6643, 1.9381, 1.277, -0.2081, -0.5213, -0.5121, 0.9951, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4416 left_y=-0.2295 left_z=0.0849 left_yaw=0.037 left_pitch=-0.1533 left_roll=0.0242 left_gripper=0.9951 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.1278 right_pitch=-0.4396 right_roll=-0.1834 right_gripper=0.996\nstate[joint_eff]: [-0.5402, -8.8547, 8.6496, 1.2576, -0.3639, 0.0952, 0.0562, -0.0342, -3.1521, 6.7077, 1.2479, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6712, 1.9842, 1.2228, -0.1249, -0.5251, -0.5228, 0.9951, 0.0216, 1.124, 0.947, -0.8162, 0.0437, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4377 left_y=-0.23 left_z=0.0556 left_yaw=0.0406 left_pitch=-0.1642 left_roll=0.0297 left_gripper=0.9951 right_x=0.2923 right_y=0.0022 right_z=0.1596 right_yaw=0.1276 right_pitch=-0.4389 right_roll=-0.184 right_gripper=0.996\nstate[joint_eff]: [0.4991, -9.7983, 5.6684, 1.4628, -0.149, 0.1294, -0.0122, -0.1436, -3.2752, 6.5573, 1.2674, -0.0122, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175c7dbbf2068d2327a30a0964eb80323ab1e74b34b25e14d03e58f270172e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c61a2a26b793cf5f5c56589991ddc29b4243caea2cfb75cffa795cf1086c4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f5063aff783bb2e920c68a87edeecaedff20ce20fa902dc132044bfc2fb622",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIojmYjK-Lug4USqscx8TdH0UlZv1HWtoDCOPskhQZYGebEYpsTFDtHCJW6oGw4CDy-qoVqDFOqRr77kN0oKqBGwsKLSNh84213uTwGG7OayD0iiDH998hFTTLSYjS6cEJbGj70-zWbryr9ppQc3-RUeGj8Fw-n72oHBeb3N6SWvIq2BeSuVBM9c03amLvvEewheymLD3exjMYOPKo6xdNYctGCLU18-7je3qp_nqjPtPJN8D9CZKqL72SROXBxUT9-U8CvUuAaB_D-9moztw2Ak8f98xD5UnaTA2hlpeP5WP6vpPyphW2f1EIrO9Vf7J5s397s0BM3YIVLQ0EtQ4D8sRphkHSbXuBO8QoQEXPTsWVFMSi76QgD8Oo8vieLtPG2iuOhdyBS3pLJsMm6-fo9M2X2T_STSZIkQBSwUaOiFkE9KWElsZ2uKfgn1BN-Wwbf1epKY25CC6hUKSykBaXeUwHIn5ynB2CxACt_TspEZ29qTTnHcCFCTwqaj4Ihp4HYD6OuUGrOAnAZbXUxp5cJ68cXl994c6s8bU6E19o5ip8W0_3_JHQyH52pCInIEz-xIzJPFLsx65P8YAIDrbvI229YzLjHcOok4nlm-EXW5IW8G1TIyJnjBCjFlSKoRUFv5lyt5syzflvN9MaV1kFKFT2bDupyHaOJKD48q8y9fPNWBBRwRmZoODFSUST7xoNVSrmyKLO1u9brpx6isjuM5W1pfxpZtRyv4ElJEwSQfsWDKzVE4xKtq6Ge_Ju89WZyN-Xy7jNzzgiWviGfzwTjGDdOoFSurd66_OY1nHyOXPCxy6sCSuPQMDwnJMMno1N2ZH8pJ_e-3G2pBvaqtD2b4dVVRb2g2sZ2s5XrGOj4iuiua4nKt7dlF2KZtK3EdNBEBsvcYWkEgNRabxuSDDlkwoohsGFQmejgnbVk9H5y1G0Xakp7YLNdhwgjdmJ0dVGROa62RitnMoNR5TSiHpKMD-oHPNnUtcwxK1yeT85DiKU83xLtJ-Jb4uDD7V6yaJ1d0ELYfB8aKBwJrnm7KoGtB51oq8qrmShc5K4k8-RpY2xNDzWjBc8p1IDqKtfZqq6l3KqKn-DHG6p1dNUZLBFtjudooN-JSUqpnhpFKNW6XIs0GWF-vMws5NDR7m1JykIASnt-Q-8a0zL2gzouek3MiMvyB-AN7aX9M_g5OfTEhL4UyKy7BZUEgYp6-zcQByJaiR77NNxfbQNE89vhQCqynw830CBihnyojyRTmL__frbImUWR5KVItQ4Ga2mPcKJBJloKIcBWWd3Kh_LTgdLxnMD-exo5P86D5mBKRFYiQkNdL0O-lYiF0elqpIXTdPjoZGplufppA95elNx4ptfHPHYR3WxKEejYjLwC1yCdb6t9QNtvZR7hMGSP9DLaEfcrxK-qB-UAeRGHkOsCPh10_xrj0xehdyCZj7rc2t9NS8ZxOI5Y44hzxmQmHV-TPH2DNWyBYCsE7m4Qy2YPdEtUwcp8XqlbJt6X6jVc6WcVzCfO4Jp_XkSmw3fScy1YUyUHftfI6JdO5qhBexP3xb2O6sR43e_rGBqahCp9yhCEaio_XRbZoB7rWJB_E9V4b1DAAfkUaboMOczS7KsSrFsRCndGsHD_yQdy2NiiSCDq1iXNI3AwfKdx_yt9C_l-Fmz4eqnQoFFnHSMiuWFwIiOIectzE5SaDbDxcz6bFXegxLz7l9XDGJNJ8HO63DPDYEobpMU--Ujnk8zLL8zN_OPAM431jOZ9yKvaz9GhVhaJRJFPgsi48rok7WLMf9XzU49xdL49zBYM2lBTHU9ioHdYzHHrDHx-BbsFYp7sQFFF7z4gK_eUlZHZGxSm-8Hh6sZp",
  "id": "rs_095e49b6a96aa3ed016ab4322672ac87d0aefb1759e5369b99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005},\"note\":\"The gripper is beside the bowl wall, but its grasp point remains about 5.5 cm above the tabletop. I’ll lower until the fingertips are at the rim; the readback will show if the bowl stops the descent.\"}",
  "call_id": "call_MoD2KWvjBQSObhNgTQSm4x1S",
  "id": "fc_095e49b6a96aa3ed016ab432278bac87d08a364d4cfa123473",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MoD2KWvjBQSObhNgTQSm4x1S",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 2.0106, 1.2003, -0.0818, -0.5251, -0.522, 0.9952, 0.0216, 1.124, 0.9466, -0.8162, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4377 left_y=-0.2278 left_z=0.0414 left_yaw=0.0442 left_pitch=-0.1686 left_roll=0.0341 left_gripper=0.9952 right_x=0.2923 right_y=0.0022 right_z=0.1594 right_yaw=0.1278 right_pitch=-0.4392 right_roll=-0.1834 right_gripper=0.996\nstate[joint_eff]: [-0.5538, -10.6872, 6.0103, 1.3358, -0.3004, -0.0757, -0.0073, -0.0342, -3.0974, 6.735, 1.2381, 0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7426e8d6840ae7c9afb168085fa9d538018896fc09647e830044c2087e4d06f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d4fc35889d485cf9674f2bb2d39b40602b4af0a2a45a27c0e0f5cd5d9e86c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fabf2ffcded3384178d0348677d5a5e55a5f17bfb953f60118762119279f0f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5247, 1.8812, 1.0367, 0.0303, -0.4423, -0.3935, 0.9944, 0.0216, 1.124, 0.9466, -0.8158, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4429 left_y=-0.1649 left_z=0.0531 left_yaw=0.0471 left_pitch=-0.1467 left_roll=0.0334 left_gripper=0.9944 right_x=0.2923 right_y=0.0022 right_z=0.1595 right_yaw=0.1278 right_pitch=-0.4388 right_roll=-0.1835 right_gripper=0.996\nstate[joint_eff]: [-0.4718, -12.2598, 8.5128, 1.5702, -0.1734, 0.105, 0.0513, -0.0752, -3.1111, 6.612, 1.2772, -0.0171, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6712, 1.9842, 1.2228, -0.1249, -0.5251, -0.5228, 0.9951, 0.0216, 1.124, 0.947, -0.8162, 0.0437, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4377 left_y=-0.23 left_z=0.0556 left_yaw=0.0406 left_pitch=-0.1642 left_roll=0.0297 left_gripper=0.9951 right_x=0.2923 right_y=0.0022 right_z=0.1596 right_yaw=0.1276 right_pitch=-0.4389 right_roll=-0.184 right_gripper=0.996\nstate[joint_eff]: [0.4991, -9.7983, 5.6684, 1.4628, -0.149, 0.1294, -0.0122, -0.1436, -3.2752, 6.5573, 1.2674, -0.0122, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 2.0106, 1.2003, -0.0818, -0.5251, -0.522, 0.9952, 0.0216, 1.124, 0.9466, -0.8162, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4377 left_y=-0.2278 left_z=0.0414 left_yaw=0.0442 left_pitch=-0.1686 left_roll=0.0341 left_gripper=0.9952 right_x=0.2923 right_y=0.0022 right_z=0.1594 right_yaw=0.1278 right_pitch=-0.4392 right_roll=-0.1834 right_gripper=0.996\nstate[joint_eff]: [-0.5538, -10.6872, 6.0103, 1.3358, -0.3004, -0.0757, -0.0073, -0.0342, -3.0974, 6.735, 1.2381, 0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7426e8d6840ae7c9afb168085fa9d538018896fc09647e830044c2087e4d06f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d4fc35889d485cf9674f2bb2d39b40602b4af0a2a45a27c0e0f5cd5d9e86c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fabf2ffcded3384178d0348677d5a5e55a5f17bfb953f60118762119279f0f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIq_-Z-JtD-LNUvgDupIP9Sx21xD_E7vOII7_IVRvcTFpkIumCRY-R5fAn1KSn1SyWIea8GOkCNAQDCzyOAWDfiYajNnKla54E3jYnaEoNW4ZvFDKz645xkUyxAmG3JwJ8MCJxVWjrOgiNhU1Bpae3H4ujJPoPninYvD6FDjoFgwE7CDIq9wEVEM8wucsfK8p5_6IErlctR6vKLMRZz_dT4tWhksegyJcdwMqF5mJvRTzazEHHGv60-_SO7fGlDCLOJW1951pB3FdkJ5Iuyuf_S3OP3cO8x8xZ44iI_0RfwByysmmM9oN6cE4xjTockZx8-ZYYkz74NIcOg79wcT7T68kjlY86DgvuCIs8SaUIP0I_MIPWTlw0wcoNmBSx5A7qpsWkCy-TZy6RGy7JCzUt_Yn1-48lIaJUUPkF3xPMVtfasMbK8n4cwNINs_0m7LDlSr9SJ6fmMZiH1Hdcgi4vACFFL21xypFOa1VFQZSfMO1M21-ERqXZaryBERx89eZ0q1YrE8keAD5O-uomXaDQU7OC-I1TXLgG8DV03QCVgiVFwPAXhwhTOUDovFdCjogUqmRaMovBHYlIH5yViYMhbHrO8roblhABu5gYnwSXaYJW6FSPLCitLBY4imGfqsdQREyDTuEsdIM9tARKsoEf5EtNkn4ahZbbBMNdHjo1XOL6506XUlONe81osBlHy1yoADjT4tOfWU22ruWcXkXR5p0ThLSUO5BCgctu9Yn2PyJQfJId0Gz5TASq0QBu_qPMtfyek4ZnYPHeHk5wwxTK8hdA9E4nZnXCJM9Vl8Tl-zgwwzj5saxgQOa1PcArBiDI7hJPNWv5AuGao54JfmIspFbLYElgB8wrIeXrugRFRblacfw4AvkLd6KqVoQwS4BGSq7Zusb9uqQqv30CoXws1VUqW3t6G0pWB_01t2jZeOdSkHbFQxzWqdLfJBHYvMh3wKVhwIlEj-dW4dtHwaArZbecax9fearKHfF74UufV-S3vXdPQW-ooy2RJvAE6-lemrp2Sl6XM2a4pQvEVTpFQ0LJaB19ODF5Dgy1gM0vRyFZPaCvD0kLP5hpUqRWOMlHmBVXxcB9DpIsBPj0cdg741KJAOxHY_lWJpXRh9PcHX9i7MsaNDv33y1dwzOi0XqM5mP2D54IvMGYLnKNK9wSG9j87BKwA5aGm2zYbcCUAseMH60Yvd4wGkwIXrlRvsL5KvK-n4VdhqED6Y36QtDfg-D3kpYGnUh2eZA2aye4w6x-OfOBtqrtzgY20WyV8TjaWU8isoFSoMIeSgt2h4JELKr9evvhxUdp_RUBCXuIyqqkxe2vQ4V3d99E1m8Z2MVoZfc8S4g0OISfA30WcBmZuHA==",
  "id": "rs_095e49b6a96aa3ed016ab43229d47887d09a027f393fcdd727",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped near 4 cm, and the bowl’s right rim runs between the two open fingers. I’ll close across that single wall and check whether the jaws remain parted.\"}",
  "call_id": "call_2AmDDoMXGv9Q32yk47IL7meo",
  "id": "fc_095e49b6a96aa3ed016ab4322a277887d0b06d938ef9d0b4c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2AmDDoMXGv9Q32yk47IL7meo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 2.009, 1.2022, -0.0803, -0.5362, -0.5201, 0.02, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.439 left_y=-0.2267 left_z=0.0437 left_yaw=0.0507 left_pitch=-0.1592 left_roll=0.0388 left_gripper=0.02 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4396 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -10.3179, 6.2701, 1.37, -0.2466, -0.0171, 0.823, -0.0889, -3.2479, 6.6393, 1.3309, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ac0c526bbbbc2547902eb3b3a3e70c2f0cb0274d3f8f40afc3ee774d06c5a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0a31dcd3af53104de787e8361f4764a2fe3ec6cca5718f4d7546e430500d02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e420ac6216005868e55fe6e290b6ae459556ef2de9ef7b2c5b8be8a0fdc0ce0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6643, 1.9381, 1.277, -0.2081, -0.5213, -0.5121, 0.9951, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4416 left_y=-0.2295 left_z=0.0849 left_yaw=0.037 left_pitch=-0.1533 left_roll=0.0242 left_gripper=0.9951 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.1278 right_pitch=-0.4396 right_roll=-0.1834 right_gripper=0.996\nstate[joint_eff]: [-0.5402, -8.8547, 8.6496, 1.2576, -0.3639, 0.0952, 0.0562, -0.0342, -3.1521, 6.7077, 1.2479, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 2.0106, 1.2003, -0.0818, -0.5251, -0.522, 0.9952, 0.0216, 1.124, 0.9466, -0.8162, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4377 left_y=-0.2278 left_z=0.0414 left_yaw=0.0442 left_pitch=-0.1686 left_roll=0.0341 left_gripper=0.9952 right_x=0.2923 right_y=0.0022 right_z=0.1594 right_yaw=0.1278 right_pitch=-0.4392 right_roll=-0.1834 right_gripper=0.996\nstate[joint_eff]: [-0.5538, -10.6872, 6.0103, 1.3358, -0.3004, -0.0757, -0.0073, -0.0342, -3.0974, 6.735, 1.2381, 0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 2.009, 1.2022, -0.0803, -0.5362, -0.5201, 0.02, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.439 left_y=-0.2267 left_z=0.0437 left_yaw=0.0507 left_pitch=-0.1592 left_roll=0.0388 left_gripper=0.02 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4396 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -10.3179, 6.2701, 1.37, -0.2466, -0.0171, 0.823, -0.0889, -3.2479, 6.6393, 1.3309, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ac0c526bbbbc2547902eb3b3a3e70c2f0cb0274d3f8f40afc3ee774d06c5a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0a31dcd3af53104de787e8361f4764a2fe3ec6cca5718f4d7546e430500d02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e420ac6216005868e55fe6e290b6ae459556ef2de9ef7b2c5b8be8a0fdc0ce0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIuddF5YwuNd_m1_LPXvK-Kad2KlbfRiHKqIIKi5_-NQiN_b7YhFjkBmtq-K1Ew_lYgynoPOpIrXr98nmFTKvKa8dCZ1gSH88LnU89zQ9gGc1pNX-bDOueJ41bYs2hCa5snjTkEqlH2rqrNaB1msHEzHW464U3bwc0Fjt9xv4myr_XmrlZjIys9lYA09QkbjiU2Oc-E_OXka1M8zG_GoES45NtVsDmdSdvdDSUuzjvgGYpxm35aPiXvUUynluBPpQJhTEKVorqF-mIxieB5He-SB83R0eXcQ6fSJGlUa5FZXwsRvVN5Wcw4p-V_a5yVHZUCbAP5_589NR2HmnlgrEimBypy-_heYwQmhl0CBQxWVq0BIAinSkDPbu66Kupl6LacR_9gRyf31pF-aPAi_dxd7PwrZ9Za2TertYaOua7mN8VjV7QhRD95P6JNxLlO040O-WB-4w7JgSdFRLLLoGmu07gA7yuBfnW7rSrpBTiEBbJxd5K7vrK2MYAA4YxIo5OAfkkaUPFXdEPj5srCUg_b8sQ9gcTHxJ3kecl49VckozDoTPswGhCZqPdFuXKQZ79SSRHV2JH8DeORL-VeF-YdYOnh6Er5NqMWJd2ZP54WO0QeEov3IWkQb5Y8nMNh4whicSjBPnpX4MQB7_r-tIixioVI7E00Wf82ZtoXbOmx74ebxCeA0Uel4rg4QbHnX6HvZQD2HJAxclOuLY64pvkTDrEuTUFOrv24P1kRo_lLYlyZvO4hpjG9TXgzfkhEZKvy25IMz6OSJulZHqMmK1hVUUZJ6Wm7KG5mi9m_SS_Zn8MuBgqS7CGSaO6dtsdgNhoaj7M_O9kYwyJL-NQq_zQcb6AgPU3jvXjR0dmokxxQ1KHNV8BKrW_yAqOWFcAUcktUcvUQWYQAbDOzq5v7bZaLnfazsNEYO_rb7ABwznA9_LXGWfHv-R6IGkOwdZIyHDwy3nNzzCl35FhmtbmF0BgjbpuuV-WyY5nYXdPJ-HyvcfLB3mNg31pQ94lobVHEEo8Sqjwi74QJSzFgR6QdiUU-Jt_s3mm2UsKMRJ3spyVPBE0tB1ZwSQJgcS0aN6zK_hKlOHlXBn_V8oSQCTfAiJWI31SQ42mNhHPtxlwEba-p79YxxEfK-utyWZzN8JTlWis-0S8SyxqkOCJlgdIrGywjybkfei9CVtBCO9hiyc2h0fmHTPVq1SlkE1gTffIZzm4L-I273lCVmtXQYv4vRGf3L5Ula2eRSzz7yEmrcUpe-nIT5xL7jKIU_5JBGf_qBUX4fmFM1ysErdPzyGVGROWdIUhKCKFSTZZ416uOQclQKCIoEtPK189HjNI1FFt8OjctOxrEmJoNSyK9OVSoSi_TXF5PF7jdRH-MXCrhjpLPjUQchuWVm4I98i4-W8bBxPGq0MXGRJoEXShufqkZCmmJ3W6e4tOOaI-UjnmCMcRCs2BYKmEmQuQlJP0RYWkT0H8evcNJcqDW75uxXR56ZsL9kSaytbG0dpEnssoAinZIeLzz4akXkGJpu2F96hNuxi3YOWaxvNYVG1s0Mcyd3Wgx0HQFqoTz1FqLI6AxJb9wxnF6fJ1VRKVp11IJFOLnstge",
  "id": "rs_095e49b6a96aa3ed016ab4322cafc887d0a2bc3d61b418d77c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The jaws stopped at only about 2 mm, which may be an empty close or a very thin rim. I’ll lift a few centimeters to check in the overhead view whether the bowl actually comes with the gripper.\"}",
  "call_id": "call_gK0HCz6dHCnBcOy4x2l7kgD6",
  "id": "fc_095e49b6a96aa3ed016ab4322d7c7487d0818e523d5bbd2b0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gK0HCz6dHCnBcOy4x2l7kgD6",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 1.9388, 1.3197, -0.3134, -0.5327, -0.5247, 0.0269, 0.0216, 1.124, 0.9466, -0.8162, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4361 left_y=-0.2251 left_z=0.0866 left_yaw=0.0561 left_pitch=-0.195 left_roll=0.0638 left_gripper=0.0269 right_x=0.2923 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4392 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -13.4769, 8.8821, 1.3114, -0.3004, -0.0073, 1.033, -0.1709, -3.3026, 6.5983, 1.2772, -0.0464, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58845bd53b12045d61e2db33e2af316215923911a913e22945ba079aeed4d25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c45d67432f5168a5024cdec93893d18def6a85095958911797c463b7a166b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8139fbf1a3499a58912abd90402c2b80970615486311909f5962df6092337da8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6712, 1.9842, 1.2228, -0.1249, -0.5251, -0.5228, 0.9951, 0.0216, 1.124, 0.947, -0.8162, 0.0437, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4377 left_y=-0.23 left_z=0.0556 left_yaw=0.0406 left_pitch=-0.1642 left_roll=0.0297 left_gripper=0.9951 right_x=0.2923 right_y=0.0022 right_z=0.1596 right_yaw=0.1276 right_pitch=-0.4389 right_roll=-0.184 right_gripper=0.996\nstate[joint_eff]: [0.4991, -9.7983, 5.6684, 1.4628, -0.149, 0.1294, -0.0122, -0.1436, -3.2752, 6.5573, 1.2674, -0.0122, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 2.009, 1.2022, -0.0803, -0.5362, -0.5201, 0.02, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.439 left_y=-0.2267 left_z=0.0437 left_yaw=0.0507 left_pitch=-0.1592 left_roll=0.0388 left_gripper=0.02 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4396 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -10.3179, 6.2701, 1.37, -0.2466, -0.0171, 0.823, -0.0889, -3.2479, 6.6393, 1.3309, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 1.9388, 1.3197, -0.3134, -0.5327, -0.5247, 0.0269, 0.0216, 1.124, 0.9466, -0.8162, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4361 left_y=-0.2251 left_z=0.0866 left_yaw=0.0561 left_pitch=-0.195 left_roll=0.0638 left_gripper=0.0269 right_x=0.2923 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4392 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -13.4769, 8.8821, 1.3114, -0.3004, -0.0073, 1.033, -0.1709, -3.3026, 6.5983, 1.2772, -0.0464, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58845bd53b12045d61e2db33e2af316215923911a913e22945ba079aeed4d25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c45d67432f5168a5024cdec93893d18def6a85095958911797c463b7a166b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8139fbf1a3499a58912abd90402c2b80970615486311909f5962df6092337da8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDI3EKuCIAlVNAd5NsVF54ObH548ZZYjUxKZgb6FmTYdPAzynDMe6FlT4KqHB0tjveQ4IbUqpuGTFWzsidFfyyezSujn641msrAvtGiE2lopKu_T3ec8jMRGrVS02WrNfOxAVUQqnAuJekqUkwksBlYTPcgSWtk1BdKSD-sDZucmnay5371qh9_-kGV3bW36eLfczTBZ2WnN4KMTZMv_myYxTJfbHUUx-bKnYVO4JoBrh9JWvPegeGVU58eiv4OdrHIDBeWsiXk8RYZS5RPPwqXu0k7OvEEhy031A20k-9hCLlVpVzRQhGSQsJrhfzWuaT5Hf4xiTKbnS5joOT_9AelX8lM0LypDKAmO6-J9cd5HYM-4X1ZG8D95dzau8ch8uGMp3lkgTDW5d9szdNBmQi2Y-qlxzp6t01DP2X1OuLqu21fIm7BzhShEDQEwAHdh1_qxnlHmqNYEllHVC4nUdI-kkKTRAbYgBMtKvsulh-FsZ36zNAc5BQfrhtWOHsYFCdmsiSturLJATPWeFmh1uFce7DktQsRHT5_Ozm5kl4Lpzbo1nZrWYbzGCOGcnLHyDprvkBY8UikywAIM1C9Uj0eWRWwtoDGb-qu5CYxC7csVOZgkdngTRYq_ap3RdqORuTz3986VALSQLx2M_SUjkgtxdbopkLXr0wgNoBB9_vNAPcjKjUYhuTyD3W54GkTLimI-m1Ewbd0ai99Y_3C-f3-ZyaFqEUKrxbXl77C_kg7N_2L-S-EDpWJQ0szPo2YR6OVcBUq2LC9ioCZbOsUPO_xGi4xG9YU-7Jy8VHsdbc-9xsx9loOVix2ZW-URUouX45H8GEvQx9zhfvy0U8O3OW9lYbzvhlXHcrY0hyOrGb3H_CvttLGbwAYBfkn9VOYXFuVkG2KqxmloLx9gx_TGwB2KZCGOAq4UE78a-yUt5kh41sjwSKM84uNbwh-Ymrm6iBYfJV8T2iHmG9KAN4zsc0vIIXpOZ2sS9YTdYwuptggykT3JQS8S83agPoKzTt-_WFfUEg5vkvIiHK_BCBUWBtQ_A3Bx3tkWte1LM9JK4K9eW6ASSPo9R81lS4Bs8UpdBg5EPAJU6raIg7HFgcAeKiSZeBmosfzmGmscTIwBbpOn7lVDbYy1fMHu6jXFNTrXIvmEd38j9xmOjWupaip-f9BRipEvNf8fhb4taEjVcl9nm8LbAn-QZYlCRsuxvgvCebkpnAF1rwwWnBxVylpD6CLOi-a36f0IIgtLcEt4wSNVizPpFUd6O8QXXXE0zpWVScTBX3G4UogSo5P7SnfsjOalyU11NFf19SXjS70q-ftdByJS9kEZRH5YnTVroLyGLRENgup2n2FCdG_MI4JyMW2NGYd5uiRmGY40IAKvZgFybr6LjtnzznYMvuNvj518Zvixj5GeElG8Kwx3bzLDzP3y9Uhro44TWaa8D_yRC3AEIfL9dY06pxmvnc-x-MZCIdJ5PfIdavVzpTzZeKsineMDs3XuN9E8_8SqvmDCMqAVrSI40sM-oAbz7miX-C572pukkQe7nYP4EuQVJZbo6hOI-gYrweZBLR5-xcCv1M6L1eXnw2OtJhvLiyC22NWhVMYY4C9obDNP_5S-s-eQ6eB6HTzQF4b4EVzAFkvPx25ZZ4DYcrojUrHsyJS-FBdSB6mLYmusdMCYcDB8fDJocBAw6-S-YeM5DdRY68eo0ZUzlRsOTnmSoKxKkclZVFEUDiRhA5Mzut1xCuL7Ld0fOHfi4Hqd3DzDurQYYctozBbW3-dN6ba9Gmm3VLW59flVS4EQhaMGp2vNi6WOFmjWr4Xx1De31b2R_0JPfSll80t7nndHXz3w4mn5DFG6MhW1JL_9k9e1Zj_5KCIsOZ6ZhAu4pcdVaL2do4VHyZBGS9l_eOIJygNR7tssC7-NlE_OPgjYpLCfYtZBoOn88KGoq01O6m2ptRk1vm-qfRE3ccy5sgUDQouEYl0Oo1IsFm-q7u3jkdjsKFvo64nwVQflLglUBC3COiNXnPoTkHxHkOX_K3pFdwP625SitWubzszJE5cgCnQZHFYGioQUlAMdZKxU936CSY8TXZIsPmOVJRQw1lKE0Zvf9i-VqJxbnwiijNlOlVWpaVBchqY5-kJolTyAqLUrrGxbKgZ_dO50D-NGUmSHfY1kuqeg3TV0VEHeYJgjpVKoFSXVLTdyLVRymQSpeP8WZVJ5sui9tmWvnd5rdj-OrA80nFDw65A3cnGs9EvZhnLm_sUWoC3z9VH-cZg4yYV4u9UPlD5OIx4Tph-4rIAkLzeo9pUsB-wvEORQz1n2NXZp-TJF0WAevZCphmc3yIYfsiri9mFYn0reld7BdQhb3FcZONr-Cd2vEqcdmpfUIiyEqqtgcwbwp_GJR335zvi6AaiTIDmyZuBpsMk_TSLYXN_yqaUt78FcdI38ENykQMis9pyqeaXIn8vYm3-KZsbmT1uFUVeTgRo2YxjA1mBTKM_eqhmeu1jmlI2VIhXIcd8sfraEYqZQrtQ_lO_OyU5MmVpR-6NlCc9vDzUSI_OvJfJZX7LOvBwfaepmZd6scDJ4MUydVCZlaiR9aDkJ8iSgiKKYfCiI0h-KlhqAiIQybROxwTp5EFZWRrVDXngyRGAcu1zzQFgtQ79Qx7UvTNsKb90smaHrTNentNMAHeuBDj3cbZETei9r81ENAbyEj-3iGulA3kfEI2mwEg1OHrv1qbel1oNDgghTvFyfQjRYvtwgpHuoACxwlHlVJKcK9tK4R4NRvuS0Z9h4DY8P6sFblxfjLh4vqLlzCZMsTIaTbb54SSiKfAbvenV9d8Csv04DRCFVygo4jsC4WApJYFHNd9gmLYN6w14wmmDZsyQjuy6msw7pBVg4X0nvvOBLn-oJ6tsZ4J79xfUKG8FjOjySHjHfxQ4NA_FlJLX4QfF2KNiZuFY2ZWZei5NyUHA_R3892irb_e-HhLopTwiAnCkK25Y3dxKxlJN6q5MNAlYA02x_rwDXlBcpcUe5Z2RqSNA-MsUfI5h9eqWhKzdXLwhdixxd_1vvvR_q8uzVLMlg4nPFPIyY94BYQq69YTmgg-wE71MR5TBF0wEPKG3Pd_loj0546QL8nOAH4me-9HXE7YrN9n4U4I4T4iSxncW4VQb9ncwsbOzxyo7uqkFXuAwtOBFF8_kEk9UYI_B4bcyETvpnuZMA3pF_wkebdDwzfOYSkFIFqcHEvqzyMCX5oDPyGUibe9dQuhMnlUqt4wCSwPqE6Sh_a_wtPbCSTbZxm10SO8g6rMKKZUPoW9NF-DkFlzfsnLPbyBg4dML_b4AEebdsq1nAvj9GuESxcmCAse98GqLxvSBcT2atk5JiNc8mVpRQwkg5P0AaS8ccPAYbQkrE_E74rYoBox8m5vc_L4D-SLVmPj_BUmVYo4QvDIkHpknQwt_GjG42cpExX6ZgKGxa_wO2dXopdD6LhnAjDo5H6QMH5GvCKJ-1q1gNgPULpMW__J1J2j1wuLpr9X2R4MycS7U_w7o8qxf_IlZMl4qjJT3zI1KgKvBYs1nbPMBqmlTFoMm2lMlkPTmJwNR-AJ8MBJnPeWl4OHDcaSTOG3kax_AGIriJZB5gMW6nyWH-uZLHJqCEc9mFM8KcCsMqicfrOGagoX0VQug-g1VdKuct3kQj61pwN_qCpwS__-Ce760sSKyxPusYYUjLVAjoCj3Tf_acWCoSQ-HNb-JQL854zWQuC4hoppPM6mAiQw5ki-uNm8zMbfcoA7nsGBYvPkMwJBAfgUz1Ad7J73pY9uZWdFjNRlWj19vGFSHQW_xi3VnM1iFLS5n0ISR2MzgBxIvVJcz0Mt9B8uN1n9V1OGtFQF9kc2j3fiw-4_IIa5T7w897BVqF0t0JNR70C2Y_s7lghE-Q5_86bGI4noGQ7ayYNThH4f7-bMBr98eEIua68g_7o3KOTw83RTTA4e3MToEeVcnIiJsWVFItrTlxKG6KvJPpja05jV3yDdyHdvJE3uV72l5i79dAKaJ14hrbXlqxEelGHtx8u9fZHYh53Px0artgV86Kcj2kcarfYAyDOF_4Ruhyue7t_cjwkl-iAsKf7GjRXDuwqurtjnsV",
  "id": "rs_095e49b6a96aa3ed016ab4322f938087d0b31b0b58bd09b652",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDI3XMWSo4tlNRqd9f67A-N4_JbiDl8MIRNuwj4C4kty-V6NtN7U4iP3MOg9Xn8T7iaitXWYB_N_BEthftShjXbkUOqH2XNnpuVxZHYKxM4A66SflQaBRAnZx16qNIWd-_glxaoaEreoEFO-fqRzwPg2LCUvPXPnJULi8AztsiLH1XHKZxpMc3uOLdUZqSO3LTUdhwu8QG1a7lNtYoXhWvQtv4Kodhsz_tOT9OVlOwGU65T2VZDLuCUTkRwkjnkRRL7sOZNLE4NgiwbPv4ek4_Ypk8M4NpW4snDAf3iXFW7BwK3zY5w33B9wVYyOJC4-OWJ_deHiqfwsBnn9ysOcg1r-PNLo2tnUNMrKie7fKihxnYufbAAd-4-TpzcvadQZYQtYR2yrOVIpViguEszdyAgsQmMxZ3KiiJnWKl8AshQ2l7D_cMxc2enLX5ORbmAhn1p61vk6SSsCvRQfjjzmXa85tkVRwvyN84G4KIdJPnynK_yuhKt08tRJ-NzH4cDfwf_BitFezS1XN1I5DS587KdOHUGg83svo3Hij-EVTlYoz_gLKok794nt57FOdsQnJlvJVay1rj-68zAeFyXdmBqnlOLH8yU9lBSZMMunHAvy2Zv69g3LU1150HoM4CLeTZHWUJBibbDMk8pAfNqoliNi2XDuTAIknNPiQr99SBnDN0xr8e8l-JpXU4D3mx_7vU-GApxUnrVxQrvK36_zL9Kep9WGm3xSUAMefGfjDHj6Ecx7gUEFp7j9objfwNB_bfLjwkqg2RZOOFZhUVRb6vLSbEJs9OFnAH8Pv1VMFIVs04P5kUO-LgW7Xgy92vmo4vEdxTlwDwfpjkw6glnRSyEgfwD_oPJVXhTZR_dCC_aPeon6UcejP7ZKwZrWVlkGSVJM1TKcCvaGjKZuOOtnM_Qke_D6uhf3mrkrRINA0Hu41P2VcxQ5sGAjF4Y5HxoJ8Af9CBMnnV9kiZVxayr00gLyaWVtiAiX5Rh8vHwRFJYv1DbmqfEBFD58wJ4fwbr1eMeEzf4PBm2j7dpTCxnPFFybR3LZExay6GR4Ad0ameeLA1Ou6jMYv_Ta7NAQRfnyK_VfBwDG93SRO8DxaUaGKAnY-6WNJ3dM9JmkkmIST7RrvyjjT4tnqbRnGwY38DHyjpdUHa4-ypmTDaOZhsWpA_WXaQhSBa8AunfHIfNXkl_E-3d2LkbxfXVvmvV6wYlhLpYH0zu547P5Q9C7x4o7DpwhmYMH_PbVA36wmI86UrEibFxB8GcDH_KULifVUPWyKW33cbuGT2uYScOkJ_bCmBJiZVYSDOftGP7rwXmb8kYGWvkOse0YhmMaZoeS0QvJSu-QEDUmcRPv1deGcPEzlgvqr6W8Z3YH5T54_UpDe-VHQQEWwsrrh7eeKDztNuzY0BPYgV75bcoBPtwUZSC70LBjsubvLHRh9Qp4CHC07KNVG2pAkqNtmbLdJJSmCHlO6jRj9AyIk1-bsqMIjZA44CUVXlon4bHc9s2qNJnBwHkZDj6Y4Nh3qk5ZdVBYGXZ3LyZMadLtDL2vHq9Zb0PwRc2Ys92z14tTiCikab810f_2nfXgy71DuZCszMY3G7puWhf30mKtbFdMLl-yR9MD0XVc2Qm6-dxbSDsZhraGgZuJC47WiqdgIcG9S1MELr6nBfTAq7P8C8CJEj0VAFUN6xN3zwVHy6Ut-J-L8P-WaGg7E6dY8uDF1bN_JjD9VgC0snUAI-GGd8EB9_J2u_Fszy74EzXQTP8PkUvF78oQCrvSHwmjATS09bpSoIDhNVyayEChMFlh4LjX7SB599BS_WbyCJzGPkVbaJ2ELZbTG9xja5D4NfsKuhYBQVDyJa_rJQgD7yHiHoBZvy_YIuwGy0wF7i7lbwAYg7cD6BXxZK-ue8F0awUNTVcHuL6txg-BhJ9o9nAmWhkBxrqQncGJtGp_9TDlA30k9Ehn9GEOaxZo8i7MiTjQfis_sUJ4BBZwSuIfodX-5vsLxFJQtL7l4BAxAkfOF1xppMlKCN-ytaYxxZZxXg0qyrSeJONZXLIcb9mU3WMuF0p4i1K9uBXlXP0eNcVLhsVO1kzhxbraZCoOmTddiAxx4wbAq6BMbe4K_ZGIhjXMmOAiv6DE03XEwqB_WBUmEyxAsQx9CAR1a0xso0Mz_8PHYndySv8JvFu0GuqjEBnov7D8UW8OFFNmaqfsnw7L1d7LI6uTHWfnLkyP_vAN4O0uuMivkzcvLKGVULcH82izkH9km7wP0u44bcARzdVp2r02arRnAf1meC_CwlEuHYiRsWet0Sc93T73gGE2nBWmLIEXgC3H-kQqHHmQ8OocwVH98S1dVHGDXzjyJrmyphE3wfkA_By2T3S-cVvMMfWjOnX6HJjhgMtCMbMXmf5dmbTHMaU5tuthWxrs_0QAwo3FN_v50uBRtIZS_l8xM98MdhSj0oPQKeGG-55S0AxFVP05qeMhDnb5jGROuUrWgyc5XlZRcV_CJMonRsXfc83s2qsFncUjjnGZZivWUUOeNnSasDzxF2hKx7GjcPTGxS22f4xT6Thy27jUO9449WYHrMGnWwUl8nOCQTIqU7MqNLZTj5U7KaUxUFVaO9MEmti0G9wjvwUxFMmeHg-5-3VakPx_1LTGozI_xNVjHd3IrroGJud-Rl8_1BD6tDbnth_mzC8IrjwXrJ3g68qartWdD-yDFVo98R7n-Kv6k9qMN5k0UV6LZ4ItPdj7ppS3Hi6J12pxFLZATyx8K3iK27_SZ3o31-lu2FKS1llt8nE_7qvRleSIgNDaJFIOlmvHB_aG3UTaqI3oJ7Y4Jj4h",
  "id": "rs_095e49b6a96aa3ed016ab43233fa9c87d0acd4174cf12d62a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.207,\"left_z\":0.01},\"note\":\"The bowl remains visible in its wrist camera after the lift, so it was not picked up. I’ll reopen, move about two centimeters inward across that rim, and lower again so the fingers straddle its wall more deeply.\"}",
  "call_id": "call_i7Ds6yoOB6nsNxQZvdBEtGke",
  "id": "fc_095e49b6a96aa3ed016ab43236d7a487d0a187b045df473a62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i7Ds6yoOB6nsNxQZvdBEtGke",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6315, 2.0075, 1.1549, -0.0105, -0.5316, -0.5102, 0.9945, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4445 left_y=-0.2098 left_z=0.0374 left_yaw=0.0758 left_pitch=-0.1436 left_roll=0.0277 left_gripper=0.9945 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4396 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [0.0752, -7.0632, 4.1231, 1.1013, -0.0757, 0.1978, -0.1245, -0.1299, -2.9197, 6.5983, 1.2674, 0.0024, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f410d113d0060be6a54b4a1a4096d65143bfdbaca76719135f53478f2d86ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91b773f1a09c2b78f8fbcc10b7bbc1c7e42e465d5d786fb50f9869e1b491993a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829112060fcdf32da5b5dc495b0021e4f9b406b983482fc038d873c0a3183cae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 2.0106, 1.2003, -0.0818, -0.5251, -0.522, 0.9952, 0.0216, 1.124, 0.9466, -0.8162, 0.0433, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4377 left_y=-0.2278 left_z=0.0414 left_yaw=0.0442 left_pitch=-0.1686 left_roll=0.0341 left_gripper=0.9952 right_x=0.2923 right_y=0.0022 right_z=0.1594 right_yaw=0.1278 right_pitch=-0.4392 right_roll=-0.1834 right_gripper=0.996\nstate[joint_eff]: [-0.5538, -10.6872, 6.0103, 1.3358, -0.3004, -0.0757, -0.0073, -0.0342, -3.0974, 6.735, 1.2381, 0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 1.9388, 1.3197, -0.3134, -0.5327, -0.5247, 0.0269, 0.0216, 1.124, 0.9466, -0.8162, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4361 left_y=-0.2251 left_z=0.0866 left_yaw=0.0561 left_pitch=-0.195 left_roll=0.0638 left_gripper=0.0269 right_x=0.2923 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4392 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -13.4769, 8.8821, 1.3114, -0.3004, -0.0073, 1.033, -0.1709, -3.3026, 6.5983, 1.2772, -0.0464, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6315, 2.0075, 1.1549, -0.0105, -0.5316, -0.5102, 0.9945, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4445 left_y=-0.2098 left_z=0.0374 left_yaw=0.0758 left_pitch=-0.1436 left_roll=0.0277 left_gripper=0.9945 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4396 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [0.0752, -7.0632, 4.1231, 1.1013, -0.0757, 0.1978, -0.1245, -0.1299, -2.9197, 6.5983, 1.2674, 0.0024, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f410d113d0060be6a54b4a1a4096d65143bfdbaca76719135f53478f2d86ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91b773f1a09c2b78f8fbcc10b7bbc1c7e42e465d5d786fb50f9869e1b491993a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829112060fcdf32da5b5dc495b0021e4f9b406b983482fc038d873c0a3183cae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_095e49b6a96aa3ed016ab4323a24c887d0bd2d5a0d3f7b7253",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJDDVC1AeiBu0VSeLmfQFbALlDH1z7cJ-TorwXYFZ06UFogEaZTXWzH0sWETs_DBgn9X7-PoiY0mx-tHLIzeF5E6mCZmUr9osw0lcdZS8pfdnmbpWj37issUfcjBE_UoQmWv9NT1JeqHd69mQCVV_KxsVmJMMshanNnHPoaA2tMoS2mdyfejlWUt5GsoR3KgAnGMBOdQg9jXiX2T9vqcNaJcAvDliet_TPsLpLuZGxnytv5X9fj4OgmLSSHejZoGKMQdVY49NhbU94QGY0w-oC5AYvtT50gNzl7sGQp4etb6scuY2FJA4PXPtCG_gm3U_VOLCRDIwm3IzrRJ5p89FI41bYPulO-i4fCchk1asynsxh7UPXT3loHiI0x9Vh-5YByTtocdwVrgCB_WQ9HFNZ4mx3VF368d143m_B64uDtEz9Wk8WUkeAcACd3rs5seFJq_xWBf84uZB2CVDsugfCTIJbVwW7J06MSyola4Cpe8-GLNuIGvSmFR5CtDgSlQKu_PN04lCn-ZgSqycbQ9Hi-1_SzdGKI35H9dE8QpJ2D7kk_be1b3ElmyLrzJtL7FFkEEfzT6C3mYw478EQy5GpbRSywO-PWZJurXOEFJ014xp3TODBW39tlzIyz3ARjDzFrPsm5iFhn_X72PjfoTpnXuasHeaflx5zAzcB7WGuUN3F5jWKJNB9i8VT6QHUxVcsLtK6lu_hX32gFNZ7kRujhOgqkp--k8xjn9kS3uB5emENDOtDn_VrKPVqxz7mxZwipdqqRlgPnK5u7asBhIj0jY8orSZSHH2xsnJ1DQRfEKoTkejFDQ2c_ogVu9mAZpiErKnFW3B0tCdlrebIisHMFZv_AuUwcKE8mZPaKnKxZqpI1TdJRH6ORrV-k4JTyOBxnhzDALRjwXnSN9yxPHK1FzqPH6PMg65l4oADlRdEgpTX08v02KV9Untqpg3M-Vt0v-zppi4KRdtoIv721cwIIwSE9Mjv0ZGqN21FJfJrbDF4HlBIw3vaPgYmGvd3KJaOe3s74IRw75-04uwezJSef6ExGk6P73GWJpxRulgroz7NGEZfAna-NAjAXdD5VIJx51p1IbU-saZZ2oCtAv52wAQsGxKGbea3hJbM0Xk_81AYpdTpNcVoGGW_m7onAHiIODDrLODk2yjmKMJHpE_u5pMUrH_zjTL8mDPqOXP1wb_jYLBud-QnkpPvoo7vGdDTJmVFQPL58Maq5MH81wG0nziF9UkJnEyYdGkubHNGdwYExkVJz4wWzkddnnKm0mhLgcOXfeYK7sjxztJ2pH9PxZs6QSJjFrsisWLcQfeYRsBgVtzo6RRe-O7qaWSGN0YBZZBtzDfhYV2660YQ_I8ZULoSIgI8RJ7hL6DeoGRnfmYVjEwOVqOJllonCp3zLDd-WYpM3JZu9wESEdVS56-xKz1P3TtZ4IHtseth8NbECRtUle6IxkyPLBztrkXxh4lVHtCI8ptfH53repz8bntlfUnhCTJbLF5OvaOwTvJztAr5EzNQGx0Ob_r3ruTPWfn5jdeVEjhso5bG6fKN9H0UIoBvIn0PPrkDCBlw673TTGQ2ly-ieCSotEqX9NhS4Agtcff5s405bXW5_-oWc5SPtWTMZcomif5iStlqz23vlV5o87Cho_7TOwEvOeUgQQ0apHrER6wRpycFB9xhBVwqt1uNzfmb1Yg6HZhgsP87nCEy4RyzEAAutIK50iONLLUMNPwpeRv-P-uVFgTogTWusfH1_5_GjZ45YlakfxFbisIPdYqQaxeCInrQs9Cawmq6pwPFlYqXV4iUUuISGu11KVwZe-dOeR3CyhGIo4G-4dA8-5vOw6Re_TajHLDl5t1ojLbZbI7x9zd1OA_zbywWetAXIniZj3x-pz7xQRVlowDpHpzTzsAXdqfNS-NlXYWkdOnsg_LN-ebJ4UgG7vg1upd7tWSdWNOvhiSjl5PxFLxGl1L4j86Fion8F7aWlDwYux6llDUrZkkoHp9Cmn0i6VqQ6tLEpEWaDGZXolkAf8mQudGLc8P13_cb4WaGoR5FCfRiSO3qeelu9hpzta59pROmr8YTXd9reHVmwW4E1PTHptx9Vl8lqzuADXruJsVJT91XPYxyYZkj609gztie3X2Ua5pNrTT5NaJh8HK30-6oWuNOEO4fUi3jkW7ESDxLW4DwX0TGW3K27rpRNja-ReZRoguqOuBSDQBRMoszR3W1oGABZoanSoyU_am0GV36UEaK5XA-fQ6XH5Tnqm_W-F2l7tZ6K7aknQoJzCB5o5ZCB6i2Cu7GDB7ZyPJhbA_9fz_Wt7bgXvk7kEVglxzs31dwFsFGog6BxdVKvqCMb4h0Of9z7qU7cGQgk0IYdmaxxUFgjEcR0sYKvX7A9PRQd7YQTeMHO8Uirpc6sbzJ2jUmqrqYX_tmcktIQru1X7ruthg6lL_1nutkDNUqfd91XcnlergnGOeudHpGQwU3aUihdw4omWL1CjuzDL8DRZxIuVXssxR3PHJwCLFCg_aSBeLOZDhJQ68brH_tsUDes_G2gi5wMNKQ3fk1j0L6F38QSX0ZC3b18A5Xy0IpnwqcDS5_JICK-mbRt-nKz9py1UjPWJKZlATf0HJ5PCyFnTCWXtDyp89H0Vpg9sa6ktzbitWH38BHdUQoPZNgQFPrfBi3YsF1BQBFESnaqn3UC8QUvPJRsnZw2_zEr5saqpCr-Efrw6NT0kNz1Glly2G1EEsNBlbr2dqji59rrqZtsjZ5zkVnXg69EyIGxl5wYIrtfDMWPXfJg_eqCywo-rryq26tFM6UzuxKQ2q9th1rn9onwFsf2A4jZpiMHy2YHu_HkUG5A_GB8uDcLf7u3cvXKbDmF2eriGwMtEA2GGrKPuYZEu4cp_-01z4c4P4h7Q6JOKHHrFVIOz04eHXADoeOqwFl9CYpQnpRC1UI-D1woStZdkdIT_fDOSm687GaYdQdnmHNltXKxuTXFgFT1t5L4HzRsD2t1pOsHOunKOtPSMo5kD-V0wt8waqN4X_Wxv_W8BgbPYVcqU5xU0vw1UG9hXTsruSAJn0gFNjWGBPeH6776VUs7VkGDNdlE96v9OnyqEUMdytZCF67rraVoOtxp1kgMTJxp22FIcHHFFoT68Vt5qXgW5bk8AhnWfCmnc_TqyXGhmZMRdgpVYRVftAIs6J41_BQ_f081JTQ25kZtmu8hNx6MAOKPQj4qwKzw4qV5-O0B4f-29ZqmtDM1xBGGRfHAo2NJRFytkKk4MachLviKsaOIYhTXLWT407gG5TEJDjY80viXKgaDAaeyRmpl7i4=",
  "id": "rs_095e49b6a96aa3ed016ab4323e91fc87d0a22a4b8f1f9421d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.30,\"left_z\":0.10},\"note\":\"The open jaws are still riding over the bowl lip, which keeps the gripper above the height needed to pinch it. I’ll move clear to the outside first so I can descend beside the bowl, rather than onto its rim.\"}",
  "call_id": "call_GuGjzEhJVJNnvPRtH1K28kpG",
  "id": "fc_095e49b6a96aa3ed016ab43242987487d0a82ff8b94003f84b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GuGjzEhJVJNnvPRtH1K28kpG",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8093, 2.0724, 1.5192, -0.3996, -0.6258, -0.6792, 0.9951, 0.0216, 1.1259, 0.9459, -0.8337, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4297 left_y=-0.2956 left_z=0.0922 left_yaw=0.0657 left_pitch=-0.1507 left_roll=0.0163 left_gripper=0.9951 right_x=0.2885 right_y=0.0022 right_z=0.1563 right_yaw=0.1291 right_pitch=-0.4593 right_roll=-0.1812 right_gripper=0.996\nstate[joint_eff]: [-0.4308, -10.7966, 8.7043, 1.1648, -0.442, 0.0171, 0.0513, -0.1162, -3.2205, 6.653, 1.3748, -0.0122, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ffe4c9eb563bd7be13c2f958485a0dec0d89be0876170755a5e95410ba2f931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4cd14010ea0a500adc895578c8afef99a01ad0e9c7adbf0884365a2707ccc53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82af9cf84039be168b62e30a1d2eaaad8e139893ee2d0ea0bfb7609d647ddd9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 108 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 2.009, 1.2022, -0.0803, -0.5362, -0.5201, 0.02, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.439 left_y=-0.2267 left_z=0.0437 left_yaw=0.0507 left_pitch=-0.1592 left_roll=0.0388 left_gripper=0.02 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4396 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -10.3179, 6.2701, 1.37, -0.2466, -0.0171, 0.823, -0.0889, -3.2479, 6.6393, 1.3309, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6315, 2.0075, 1.1549, -0.0105, -0.5316, -0.5102, 0.9945, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4445 left_y=-0.2098 left_z=0.0374 left_yaw=0.0758 left_pitch=-0.1436 left_roll=0.0277 left_gripper=0.9945 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4396 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [0.0752, -7.0632, 4.1231, 1.1013, -0.0757, 0.1978, -0.1245, -0.1299, -2.9197, 6.5983, 1.2674, 0.0024, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8093, 2.0724, 1.5192, -0.3996, -0.6258, -0.6792, 0.9951, 0.0216, 1.1259, 0.9459, -0.8337, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4297 left_y=-0.2956 left_z=0.0922 left_yaw=0.0657 left_pitch=-0.1507 left_roll=0.0163 left_gripper=0.9951 right_x=0.2885 right_y=0.0022 right_z=0.1563 right_yaw=0.1291 right_pitch=-0.4593 right_roll=-0.1812 right_gripper=0.996\nstate[joint_eff]: [-0.4308, -10.7966, 8.7043, 1.1648, -0.442, 0.0171, 0.0513, -0.1162, -3.2205, 6.653, 1.3748, -0.0122, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ffe4c9eb563bd7be13c2f958485a0dec0d89be0876170755a5e95410ba2f931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4cd14010ea0a500adc895578c8afef99a01ad0e9c7adbf0884365a2707ccc53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82af9cf84039be168b62e30a1d2eaaad8e139893ee2d0ea0bfb7609d647ddd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJJflwzrytN9C62ZPj9P-Vpe_9oKvk3wiVPc6unHuuZKuv_MQefaQmbimiaXdfsmaJD11UXAAMUUE34qAP7TDOK0TzrLpyoGMa2Ks4JFvEvuW_Snske3mXZo6gDWiJnd8kpYtypWliLy8PBu5C-YRBVQXhxb76FgXK3qPkND4YxdZ4giPU6T5GUVRTjTBcoGPYNZFTOydySWc5uO3ZuCjuyknegG4sv1L4z2DunzKZftyfEieoB_NjovEAy-bIHKE_IQYusJhJ2Oxtq0Rjte4JM8kRkH6oR0KGXr-o-az7WmEoNml1qwADpHO379ZZU2g_mT4a3YgrmiupxjK39t4e1DLCLlcjcnCRZSoM_Tx6yNOmltqHm11-hcHViIQ7cdtLnUpVGSCFEFnQ2CKtwodgoCmSbTO66ROcLUkhwhr-_xupZVxpp5vFQscHLDuq2L6o3g2YqCYnfUwcfBqzbCPkNblmQbot078e76LFMFkQlQ7Oii87_P98VzDtK_j1UMwR0AowKlIcn4FwQo15mtb391ivLk8VhL2c6TUWqTHiIr5cdnK8GIsj8RfAT6_LY35sT8cz5HOodJgq2Ikg3RqwkMmtrkNDhyujS2H-KWefiUh6Vi-hhWqvP5G0pHABrKASDfIMDIrYGio380inscv9xCj8XQjmnYyzrdSQJsOWXm1XeI1y1Leb_8ZdgY47DFI8FJCecG22FqBBbP0wmie_fU6_xL--91RT7YB4pHuXXMbH429i7dYmndi55D7ctzm1YSU_UJDJmaMltTFtoU0YcgKmEf2TaV96PeRLt8NYHEtxveWgnasw_0lnt7WnwjVsvDagfEV678JWScSUifdRMbkGqo8mxWDfODBV-RH0SVmZ1QbI3s4GbxQR8YKOZWhjAR1FaCNP3_k3FRVWm6ujB82cUef_Zf2h1Vqz284SfLZvYHSzUmx384KR-Jdp-iRKlAC-wwXzie90wUv_8EYPL8n57NjgFEUMghzpARz8ogw845su9EpVnCesHx0NZTVX8kunhzdeQ8USGMSpP30qkgSye-8QVourH-5uUEKqzNOhIXD8oqimZeY8Zkc9Fj6XHsnkIIDG8V_ooFnYyeX72lE1DMiri-6921DiAHj7dYO1YJNfzuYNNV6Udq4gWIid1QktamlpRKEjFALH56wXDglj57J1mrTN3nPL_T2VHaL0JtQT-P7sJdMgYgVcMLOItAmBKEJ4z6jumDgRn-p2cuYnOyXkZAEXVeu5djHmhGWYUhlDSo-9f5U5563z80zMCIWE17r0jOlAjuZp5QdlaXJP8k_gsSx_-FE32NyKZdDwB9NhDGVecYvMlLW41HtKLlLlr4jL55H8qRMv_FJKCwX9ibL25DWRFoudElT_Nb1GiBAApvwgPW_hpiRixGhjy3aGkzPQjxAAXnQ3hO-vNGdpWx8PCMz7tssT3WIrPP9xlk_AnD8Vq9M4wQvmBUtVsX8pd7OglCnF5XW0RU79-TpmE2yANL8mltDbdqqNLKXqUSrgukzfsEo-8Yl2OLtCBfiS0tSMx8V5n0JSrC-qhZ0tc8EAJBq_kfsTr2VPs9bQEtJB4J8JQQkgLjXZfYV28NZ_4ppGuZMxErZ4U4mCyanzrlOmuEm_368h99bt79sSYMTX0EQYJatt8evNb7poi6YnfEhMfFlWaBIdoFyTyo_Hep-vkuUFNZoZ5SnMZUbFrI8lij-cD5aOymanHmSKxusOg1D6iLwXrvj10FV9qZL1bGuRVaTvLK1-Vg7s6Gk4yeHnytnhtYEmBPdVBI7NQNPcPUTU6NsZ2RThMEQPjNcCxk8pkUrTlXntb0PqnyZXvvcFRMjjEML36hApYQ8F4lro2dX4E_9oGDOpGSsSkQoBbrrO866sggq0lKnplU11H17epy7tEP9P0dAh0CW1vQJRxEUJ_GfntberiWQt1t-ov9i0uAvsDNMPuNB3M-FOuaFE6L07TRZzjlIkw_YO9du6xMKBV0cxLLM3yXQQcx4fGNALDI8K-EMXxpsBXpSZ-MgJ5Ew4UsVxm2a5MjVttSjPidBNnklcnTh-fQZohQW0piHjDcxSS6t6oTlT3j01dwrYYf4hLGek85YcmPDQbqRHw0vEBcdeySywLLtXE4gttJWlqlP0ZjOODti5fZ8-dFDuAhiwq9vIrFMixU0vVXHIKPopJlz3qS7Fpnsrf2g==",
  "id": "rs_095e49b6a96aa3ed016ab43246d90487d0a3081b4b4a1ae33b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.38,\"left_z\":0.015},\"note\":\"At the outside edge, the bowl’s right wall falls near the jaw center. I’ll narrow the opening enough that one finger is inside and one outside that wall, then lower beside it before the final pinch.\"}",
  "call_id": "call_MMJzolHhdzZd6H4bf8jHKv7q",
  "id": "fc_095e49b6a96aa3ed016ab43248a59c87d0a3ba9606767f9121",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MMJzolHhdzZd6H4bf8jHKv7q",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8135, 2.1704, 1.3987, -0.1886, -0.6262, -0.6781, 0.3847, 0.0216, 1.1259, 0.9459, -0.8349, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4273 left_y=-0.296 left_z=0.0275 left_yaw=0.062 left_pitch=-0.1554 left_roll=0.0233 left_gripper=0.3847 right_x=0.2883 right_y=0.0022 right_z=0.1562 right_yaw=0.1291 right_pitch=-0.4605 right_roll=-0.1811 right_gripper=0.996\nstate[joint_eff]: [0.294, -9.6205, 4.9983, 1.3455, -0.2711, -0.0269, 0.0415, -0.1299, -3.3026, 6.5983, 1.2723, -0.0122, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb80eab899982a4bffcda9104bc3b525bd19e773f7d90754ac9b615a984d80e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546046e453a09b66f841a38c18afe47feadd46b0a2b7c7316693173547412a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5af5630375ffdd1c111350bfc6f4b9ddd0c0866f28bc2735bd3147b7be5064",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6678, 1.9388, 1.3197, -0.3134, -0.5327, -0.5247, 0.0269, 0.0216, 1.124, 0.9466, -0.8162, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4361 left_y=-0.2251 left_z=0.0866 left_yaw=0.0561 left_pitch=-0.195 left_roll=0.0638 left_gripper=0.0269 right_x=0.2923 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4392 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -13.4769, 8.8821, 1.3114, -0.3004, -0.0073, 1.033, -0.1709, -3.3026, 6.5983, 1.2772, -0.0464, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8093, 2.0724, 1.5192, -0.3996, -0.6258, -0.6792, 0.9951, 0.0216, 1.1259, 0.9459, -0.8337, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4297 left_y=-0.2956 left_z=0.0922 left_yaw=0.0657 left_pitch=-0.1507 left_roll=0.0163 left_gripper=0.9951 right_x=0.2885 right_y=0.0022 right_z=0.1563 right_yaw=0.1291 right_pitch=-0.4593 right_roll=-0.1812 right_gripper=0.996\nstate[joint_eff]: [-0.4308, -10.7966, 8.7043, 1.1648, -0.442, 0.0171, 0.0513, -0.1162, -3.2205, 6.653, 1.3748, -0.0122, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8135, 2.1704, 1.3987, -0.1886, -0.6262, -0.6781, 0.3847, 0.0216, 1.1259, 0.9459, -0.8349, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4273 left_y=-0.296 left_z=0.0275 left_yaw=0.062 left_pitch=-0.1554 left_roll=0.0233 left_gripper=0.3847 right_x=0.2883 right_y=0.0022 right_z=0.1562 right_yaw=0.1291 right_pitch=-0.4605 right_roll=-0.1811 right_gripper=0.996\nstate[joint_eff]: [0.294, -9.6205, 4.9983, 1.3455, -0.2711, -0.0269, 0.0415, -0.1299, -3.3026, 6.5983, 1.2723, -0.0122, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb80eab899982a4bffcda9104bc3b525bd19e773f7d90754ac9b615a984d80e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546046e453a09b66f841a38c18afe47feadd46b0a2b7c7316693173547412a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5af5630375ffdd1c111350bfc6f4b9ddd0c0866f28bc2735bd3147b7be5064",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJODKd_ZQBkd_DGHagRAkJZbf1KxnEnDvpMph1CDI0r3ujcnZ9g95rakOUcChnIx7fyGKhnpAuz8GNfzvBe5TaWkv_ynAQHFcE_w0BU-jB2Bl8DpT2Qs8ox4NuapGRgV8qd_D58a6CG1ILJJZe6wstzv6rEtpc2QDhabgyE13C211BwacXCb7NvniQyE1O38QZjPC5ERLWfflo3p7p2v76qLriIu5u-gyKJzyErJgD6364mPH8qjT120kzhF_ejVNF5bu0A-Ln6SYixdgxoft-2g7I57PaWfWsZv0wPsER3PYpVU5mXA_pggg2Yt49rxdLnQvnN6-DexK9_KQv3JAedvt7-3fZN8Wuq_FtX90cSkScBq3zVsgb_zmJ7hNQTtKSQkoTufvKkQAFWlOEXXEEl5EfINb58A8ufvS3N7AWEp-hNTTCccEerwfZqwscPA7X13tVm6BK_2F0RA4JWGLcNmCTbIX6RIsXmzTvBXerdtFdxhe5z1ovl6MYcD2hlMIyYIdizJo7vdg0Tt6Jt2mupBwZ5krgr5a4f-QOdRsAfeUnfnO5R8r48oGZPD0aNb0vCcjDFO05lYoyK3ODQ2ri4Wlpwou7G7kz2nqwWH3Bx8mDNPkx4pqLjuGees8oyr1s30pO8l5hIZPrNGyXfA0UQrH99_uh5lyBa9JUXBJSPZmB6o7dlym-rh2xVY1xOb0g6FadPOy1OqKHeWJzdzdkTMOQsD4di7P8xpZWEBjnLuyCNqtOJ01JIQYzuLHIlRyJNwGrQT1Y9G1G2NqPqwixOD5ki563E2ZWV0Sa-2lUq6aQ_BjA7Ns2vnl3LwfCIXdTOM1PBsxlIKn4NXYmPuLfskuWSCy2Cdvf3586ysXCtHT4Q8hjUNWj_g7zyOmHEF2YlnZGREZSWzOQ9lycJsBd0w5IMxoQYlQPhKmiB7toh7UeEwMnMDYxgW8Pl-XL-2VSWf-2rxtH_MPOoCyVT3etb5u3XrjTA71HanabStl5-PlPJGbB614SnpeEZUscTxB0lJfOj4Z3p2wVcL5yODAlbMA18zrBh2KflmgDxnxeF-LVf9Pt1ZEfXHmfffkAkfQctg2ovGsZuigLZrUL0vqHXWN4rxBPhq-MQ4yH29xmRV6XL6zTuRTCTgMmvxBHdwLzDUlPW69CgiiVipSDOKTKKIa0NnvmFXbzsnJaNPGOcdYMh89b8o-K1pM5hlZuoI_Iw1JS8-r3tNWGYr-49Yc0FwOqkFwwf0k87Si2an1aKVpeMBUAw9OqVc-rgTAEglCTMk3B1X_YYS5cc-AHstPJRUXyqvAEtPpQHJZHsLZqXz0x8l7wD7L0ytsAwer5xhRuK38GWfs8VgS_tBtSBaagKxruVcAHf4KuYW1QfuLkGJk_oXUE05c2Qae7tTfO4todXtPBFdnx06RKdbM7rrl2UChiqpFwAYXiYDySA98y7UsZDZoOtpS-2rlrhrRFS1Gyq9KkArDwhzQexdPXEPmuwcrLiRmqsOSqusYag9ZWNQJuoMncPFNpr60l28mJR8NL693vAhAKkekCPT8ZMyIRzraNMuaUf4E4x7kob8pK3I9MIWW-gv3X-0LF39gMSgkjbbK9bUKBVMAiIxr6nVtWMfl9NVv8IVnc8YN9dz2U5FtJPqq7oTBaoUDeDs6Ed067-Iy52RHgrAE3lYAn4RXPlReTDxXpkEn59S9vCfBQBAxlUeqNZaG-cDJ6FDASpLeCflwHew6uvmXXzZ1-4kfjYVD_aTe-ksHAWdVn_-_RBk_m54rMq1QtGLokPMp2x1h4k1lvy6EsYuLiID0Tuea-LtJvMqFyNyiKxKZLSZXwQt-gG-lPKpXIWBH70Lgb5q_uHUqGqhYBK5DXiSv-3F_byAq7Cpe63wjdhE_XypcdEFmyqoLp_hqCscAIQuwT9dUCMMjdmxoXrYgI4OLRL1x6NGw-egy4MtFjLO91GwsW_NZnYDJobGMrjSZ446k_CIqRFzNjvdRNHg5UQm3iZThOqiShFonLlHeN468CshilqtTgZ2eulbvAPQgUS92mN8ckwYmvHiTo_uZQN_bmssDXZXZqdNSu1tM8_Mba9d8ZSlMFrtXhVeIDd-KmGnVoSjiySJeRGy7BjuQJ8qsM4F9qXpF_wyKN2vZMXWWXwRTF9JGQaoVYVU8RHifg91vTANuUxt7iKDXxjUizNjZHgZGF0G1fbeqN0Jv93hQQ2-sx85djGmamynPcKZWDjW-Z0DZ8wlmgmh9-UXBWu_XjMEk5e2z2g64NJULwM0iudlmzx1GzTqVpg9AbBvyMgUOaM3nUSY-h7YPwM4vlgVDsNnQ859gvU8oLTSDUXRuyDKtEN_7Kcr6sbsXIMcNgnI38otbldI6E9khNmAyqXHBkXTmBz_PqLOORB47f2DFtOB4VaGQpjhHYsHg39QrZ4n9NJsyavgiWPxC2GOpkyNjb6nKj6VAhJ8dzi89vL4esMfE9YVvm51E4mba0806NCUCBHa3HcwFuWc2TlXSKVr3VSiWT3HKQimMIlRL4-eEn-4sbOgcHWrIO6cwVZwBNf1FSTxtPOqDXLi2tPC_RZjrv9N-awgIY_WZBL699xXYL8h-NKMPk8gHTgIDo-5VX2rzfE2zMTySNZwBkZ2Q2JCt4HUXi-RAVsV7j0O0rXQhL6vJ6Ulaw=",
  "id": "rs_095e49b6a96aa3ed016ab4324b20b087d09c228fab286251ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.318,\"left_z\":0.025},\"note\":\"The narrowed jaws reached about 2.8 cm above the table, below the rim, without the wide gripper landing on it. The rim is slightly right of the gap center, so I’ll adjust sideways by roughly two centimeters before squeezing.\"}",
  "call_id": "call_CIOx1gvAgqxXCzeLIJsnquPH",
  "id": "fc_095e49b6a96aa3ed016ab4324d545887d0ac45d7fd7343dfe1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CIOx1gvAgqxXCzeLIJsnquPH",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8242, 2.2101, 1.4406, -0.2016, -0.6338, -0.6979, 0.3836, 0.0216, 1.1297, 0.9455, -0.8379, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4293 left_y=-0.3046 left_z=0.0213 left_yaw=0.0685 left_pitch=-0.1569 left_roll=0.0207 left_gripper=0.3836 right_x=0.2877 right_y=0.0021 right_z=0.1546 right_yaw=0.1295 right_pitch=-0.4677 right_roll=-0.1802 right_gripper=0.996\nstate[joint_eff]: [-1.5932, -11.2752, 8.2393, 1.1013, -0.4567, 0.0855, -0.1148, -0.1846, -3.5214, 6.5846, 1.2625, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee2f74525c8cec86ef7530c9f5cb6c030498ebeca4400c700c7995402e89ca6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881bd63e91d0d9b52e8055516a79c55a6cb3640405a0e98dc51fe6a7350feab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fcb1ee19f4973df890b75d645e54e1dcbc4055a09c832da9fb11685e0e320d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6315, 2.0075, 1.1549, -0.0105, -0.5316, -0.5102, 0.9945, 0.0216, 1.124, 0.9466, -0.8165, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4445 left_y=-0.2098 left_z=0.0374 left_yaw=0.0758 left_pitch=-0.1436 left_roll=0.0277 left_gripper=0.9945 right_x=0.2922 right_y=0.0022 right_z=0.1594 right_yaw=0.128 right_pitch=-0.4396 right_roll=-0.1836 right_gripper=0.996\nstate[joint_eff]: [0.0752, -7.0632, 4.1231, 1.1013, -0.0757, 0.1978, -0.1245, -0.1299, -2.9197, 6.5983, 1.2674, 0.0024, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8135, 2.1704, 1.3987, -0.1886, -0.6262, -0.6781, 0.3847, 0.0216, 1.1259, 0.9459, -0.8349, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4273 left_y=-0.296 left_z=0.0275 left_yaw=0.062 left_pitch=-0.1554 left_roll=0.0233 left_gripper=0.3847 right_x=0.2883 right_y=0.0022 right_z=0.1562 right_yaw=0.1291 right_pitch=-0.4605 right_roll=-0.1811 right_gripper=0.996\nstate[joint_eff]: [0.294, -9.6205, 4.9983, 1.3455, -0.2711, -0.0269, 0.0415, -0.1299, -3.3026, 6.5983, 1.2723, -0.0122, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8242, 2.2101, 1.4406, -0.2016, -0.6338, -0.6979, 0.3836, 0.0216, 1.1297, 0.9455, -0.8379, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4293 left_y=-0.3046 left_z=0.0213 left_yaw=0.0685 left_pitch=-0.1569 left_roll=0.0207 left_gripper=0.3836 right_x=0.2877 right_y=0.0021 right_z=0.1546 right_yaw=0.1295 right_pitch=-0.4677 right_roll=-0.1802 right_gripper=0.996\nstate[joint_eff]: [-1.5932, -11.2752, 8.2393, 1.1013, -0.4567, 0.0855, -0.1148, -0.1846, -3.5214, 6.5846, 1.2625, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee2f74525c8cec86ef7530c9f5cb6c030498ebeca4400c700c7995402e89ca6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881bd63e91d0d9b52e8055516a79c55a6cb3640405a0e98dc51fe6a7350feab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fcb1ee19f4973df890b75d645e54e1dcbc4055a09c832da9fb11685e0e320d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJRNB0-lBAFJ8aZ4MNtm1acCt3wPqplwHxtoscCl6yM-4noawbVABR0u5WEmWuFYjkRvv3qWy1uYaKawcjJZXGuhg35CTZmVIbJad1UtDaUtpjKNyCKWbyxjUtYCevyXG9GIH1cMTutqgTfWfw7odtiyL2x1hckeC3L4farL1ylzl0CPUd_KSPx_43H5rCRIA_QT2WDAxrUwkhGARqkjcWzddaOGEsNZjt9jKQeiNcdYAL7ehK1jVUNxwM-zMEmm5E2VKXHehTX8Owg_mtgh4sY6l5UApqBazU1PxSJ19WsKL2SMH4D3_T0ZyHv2dhLajzhqQM542PN-wf2Uc-5DpUDowIbYDcAKaB3XW6huXEdS7VTWD3HHvghzdTmCSmtCUcoIvoW5D9rn6MAzMLWbuaEqyOKMX95meYptRDunZArbpKA5d8zaassliYBTzs_Qjp8kWZ4v0WgNS-q2ATWFLpg5mGSBxmXSgFnnfzzhpfDtGlh7_R6wTtFTgq6NffHaqvddhTHBgUC4TliyT0SO9wpKRa2KQYE3Qc30gpi-MFMp6qFWfqGvDiK238wM5cSLZf_HqekmEW-utJ4IRY_y448q5s9tj8EGgDG914O7f4kw8EUknCThHHMm3-c93I9-BgTr3nsjQJ2Fqmr9PRg9PS2B7PHiIDVp0AFYANdZnIpLls3TgYXsP9zaWPc3knpXNCsBRQsiEZMkeiLNvB8SGAzCwJ56HhRBePtjUEkbAAN0ciN0nG8oeNTO6b1e9PhgJIlNQqi1pnoWHM3ZyGcual7E3xwvpzN5j52V-FlVWlgFGmvKRAHHTh4YhAawPBpgXbQPvM6aOHu3Z8R-aQeh_bi68NO2he45N0I_vLxbuePMr-Q9X6PouUtA29zyqTLEjHdWxObpFq6HMlLZQhZymXN5FqGDVdLCt-CDkHdNzE992YGmZSsrjIpSteyBN6yKVhHNpQaO6IVJtKTfHA6varB0EPajuYtt95gZZlozfdfLq6b7bItWwQxcGQA56p9eFzfOAjZa1WShGEFUoFGHT9YJVXD9KKJy5EHAHX8gBTlGqgp3b4EJ2sdwFUR9vTTpDmjWPkbHl9nTF1UYcD8g1glPSwShmaFNbE1s0JDIqelFbWodWQcMrs-AN-8bVi9se3rh0Yy2OFGSe467BLEon5Z42pQ18DQlBo5r47MxF2pg_iASUm6eWXsJ8qfdheJS0EBvPMbiSE75eTkKZFtarc9LsDWKy-CtMYbLBlCCllBCdvdTt9uFfhb3m96xvRWCOfK2MDevkLXThAlPG-e0syICSsKdV45cewaclFI2hrzLN7lfInoiSz_SYn7aArhs1vaYIkMNGMwOCIgARD-djE2sIWkdW7KXjCmxPE46f56D8kZAKoYv2eVKo16wUq71lq3f6hyhs-VVEqybgoeJmyx7-kczibR5WzenkSAjiNh9R45wS4mTzQMkW2HNh469mSf9RwxbCyLJju-5K4lblfRW1zfwSCuXEcuygArhKsnhS6Rcu4F28QzTC1EMZZ3_VkuSHiWar49avF4mkP2Xmu_lA==",
  "id": "rs_095e49b6a96aa3ed016ab43250416487d082a3c60a2f456bef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The sideways move stopped early at the bowl wall; with the narrowed jaws now on either side of its rim, I’ll close the remaining gap and check the final opening.\"}",
  "call_id": "call_WLg78LuNoYPl2W5efnsqtqlY",
  "id": "fc_095e49b6a96aa3ed016ab43251036087d0939883ff7aa516c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WLg78LuNoYPl2W5efnsqtqlY",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.828, 2.1975, 1.4551, -0.2081, -0.6708, -0.6891, 0.1023, 0.0216, 1.1297, 0.9451, -0.8383, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4333 left_y=-0.3042 left_z=0.0349 left_yaw=0.0814 left_pitch=-0.1205 left_roll=0.0301 left_gripper=0.1023 right_x=0.2876 right_y=0.0021 right_z=0.1544 right_yaw=0.1296 right_pitch=-0.4684 right_roll=-0.1801 right_gripper=0.996\nstate[joint_eff]: [0.3897, -11.0427, 5.0256, 1.2918, 0.0415, -0.1148, 0.5348, -0.0205, -3.3026, 6.5983, 1.2479, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e9efbbd1811e9c4d7c8ed5ac6f29ac04c663960b523feaed76bef0de481191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a704bf4b8748e9a4745c6ed2a2f7e2aa7d2d2d2a09bc10b43a011dcb29ead03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1084656f618fe42cf7e419db1cc846d495d7582b279ac4e42128df6fac05d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8093, 2.0724, 1.5192, -0.3996, -0.6258, -0.6792, 0.9951, 0.0216, 1.1259, 0.9459, -0.8337, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4297 left_y=-0.2956 left_z=0.0922 left_yaw=0.0657 left_pitch=-0.1507 left_roll=0.0163 left_gripper=0.9951 right_x=0.2885 right_y=0.0022 right_z=0.1563 right_yaw=0.1291 right_pitch=-0.4593 right_roll=-0.1812 right_gripper=0.996\nstate[joint_eff]: [-0.4308, -10.7966, 8.7043, 1.1648, -0.442, 0.0171, 0.0513, -0.1162, -3.2205, 6.653, 1.3748, -0.0122, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8242, 2.2101, 1.4406, -0.2016, -0.6338, -0.6979, 0.3836, 0.0216, 1.1297, 0.9455, -0.8379, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4293 left_y=-0.3046 left_z=0.0213 left_yaw=0.0685 left_pitch=-0.1569 left_roll=0.0207 left_gripper=0.3836 right_x=0.2877 right_y=0.0021 right_z=0.1546 right_yaw=0.1295 right_pitch=-0.4677 right_roll=-0.1802 right_gripper=0.996\nstate[joint_eff]: [-1.5932, -11.2752, 8.2393, 1.1013, -0.4567, 0.0855, -0.1148, -0.1846, -3.5214, 6.5846, 1.2625, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.828, 2.1975, 1.4551, -0.2081, -0.6708, -0.6891, 0.1023, 0.0216, 1.1297, 0.9451, -0.8383, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4333 left_y=-0.3042 left_z=0.0349 left_yaw=0.0814 left_pitch=-0.1205 left_roll=0.0301 left_gripper=0.1023 right_x=0.2876 right_y=0.0021 right_z=0.1544 right_yaw=0.1296 right_pitch=-0.4684 right_roll=-0.1801 right_gripper=0.996\nstate[joint_eff]: [0.3897, -11.0427, 5.0256, 1.2918, 0.0415, -0.1148, 0.5348, -0.0205, -3.3026, 6.5983, 1.2479, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e9efbbd1811e9c4d7c8ed5ac6f29ac04c663960b523feaed76bef0de481191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a704bf4b8748e9a4745c6ed2a2f7e2aa7d2d2d2a09bc10b43a011dcb29ead03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1084656f618fe42cf7e419db1cc846d495d7582b279ac4e42128df6fac05d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJUqHNLuvCVrv322jmoCn_Zj9l1Civ0Vl-zH1syCxtM5n-P7w1M2ns-qA56t3KihpbOyPgcAbT2LRGS-A0EeQiWjjavMpmGWSm9ySUS0h3Q3LeyGZLc99kG7ffiPu7CHp2T-V0-D35UgZcAAzOPIc6ZSt_SYV1A4OHgB6nfmimt002mQI6Lpgiqqtjsk-K0fHTU2BtKP4MFLnTzWDKYuTEAiQqiAlYg1qTW7E1oi9LVAqC0Wvog0zoY-HDtfvUrStWnvANb3Yg1VeJgCmblMQ7bMkNXY6wcJOFVAJZJta-89HwdjlbcccmcM1PCKOaS8Hiee_QujlNsz4Rf52oaFc-sBrUmf_Ftpf8TrfDG0ir00_pXSurJSjiCjRWnxk1JN4rFbsrPiBgnPzZQTbANJqAr8U0WlzE6HdXYH12hA4wFuE6iGNCOO3L3PSv-SJL_TaKBC0rctaHKpcBW5aTkJJ35CYGJOWHpdey60ydiiLRnjvWyTroJXvHsRutfX3izvvrJkCqv2IBnMweDqWuYTvw6bz63d6QtEFWQvRqEMrnAjqwSrLdzKsjssQV-A3yrKRxRWRxOe2nSDJryHOIMrjHsQOsjrzv7h0mQySfJo1Ars4OWX8ygQum1fBltrh-dmBQgXNpZlfZROKcSkswA2RlyGNmzzhjD-vgkid7F2UNTJwtErJFXgG--ww7axQviZGHNZK78UnZREv4qyTM5ZnTWRXfumYga29kUCQdkBhVoMygDQ8mmJUTvo5ZSSbu-ADeFKdxBZpVKLVZ76Ge8LqSyh8Tmb1EZCHxedqsbQi7vPBtHBcUBljXJlUaJbNB1bN9iaUFhtF3l4Cfcuau0VLW0xNeGGlwWWRzJInzmEbdG1IBE8z66x4BFv0Rq4E6GuQ1OqNLhzHY-rSaTgYRFOKRIg8aE6ckl7MjPQ607PjedZ4z6m6Loh_tD7BrL93vhwFm9CIJhIEpWeCFjEwY1ymzCpfZ0N-3kyhyDlNb04Mnl8SrcvmE5kUCGEt9XxrovyD1z-wgOqpVhC2kLVNWc8t-qNzDWHiBANgfjRoiJWWb57JNB_xEVCfc20Sf8NNtDYpRQa5sAvEzrFRO_bn72pNl4wBVk3H-c29n35X3iFQr4nRbCoLrB_6UUbzNQpNINkkMuNnw7eQQ-ed05Hct0f8joAxED-QcpSZ-EkCkYmHdF4aI60oVzYEzxhIelT9hfGl1HqyghSKYoIspv1m3eGJNU-7Mo_J3htVd7gzOCCSNXn6ULopLh41tIIZZiolNczkBZ",
  "id": "rs_095e49b6a96aa3ed016ab4325332d887d0b6b25c6f3a51e1c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The jaws stopped with about a centimeter of opening, unlike the earlier empty closes. I’ll lift the bowl now and check that it rises with the left gripper before moving toward the stack.\"}",
  "call_id": "call_RyQFYiFDjLHoqb9RN14WNvJD",
  "id": "fc_095e49b6a96aa3ed016ab43253688087d0beadd7bc1772bd76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RyQFYiFDjLHoqb9RN14WNvJD",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8276, 2.1441, 1.586, -0.4572, -0.6731, -0.701, 0.1015, 0.0216, 1.132, 0.9424, -0.8394, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4306 left_y=-0.3005 left_z=0.0782 left_yaw=0.0969 left_pitch=-0.1581 left_roll=0.0742 left_gripper=0.1015 right_x=0.2869 right_y=0.0021 right_z=0.1526 right_yaw=0.1299 right_pitch=-0.4745 right_roll=-0.1794 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -16.3214, 9.1966, 1.1551, -0.3541, 0.0806, -0.0952, -0.1436, -3.3983, 6.8171, 1.243, -0.0024, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463838993e2c0bd4ebb50174e203392596eba8999e670909c79e9b4e1ce2b337",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0088952c8c4da839b71b481d114d6f64b1e3a6cb3beae80c0d19f8d7ab7e7cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca6d61278c4e31b65e9dbd41e9d22f296cf7dbd3a3cac4849ad839d2a26c6eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8135, 2.1704, 1.3987, -0.1886, -0.6262, -0.6781, 0.3847, 0.0216, 1.1259, 0.9459, -0.8349, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4273 left_y=-0.296 left_z=0.0275 left_yaw=0.062 left_pitch=-0.1554 left_roll=0.0233 left_gripper=0.3847 right_x=0.2883 right_y=0.0022 right_z=0.1562 right_yaw=0.1291 right_pitch=-0.4605 right_roll=-0.1811 right_gripper=0.996\nstate[joint_eff]: [0.294, -9.6205, 4.9983, 1.3455, -0.2711, -0.0269, 0.0415, -0.1299, -3.3026, 6.5983, 1.2723, -0.0122, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.828, 2.1975, 1.4551, -0.2081, -0.6708, -0.6891, 0.1023, 0.0216, 1.1297, 0.9451, -0.8383, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4333 left_y=-0.3042 left_z=0.0349 left_yaw=0.0814 left_pitch=-0.1205 left_roll=0.0301 left_gripper=0.1023 right_x=0.2876 right_y=0.0021 right_z=0.1544 right_yaw=0.1296 right_pitch=-0.4684 right_roll=-0.1801 right_gripper=0.996\nstate[joint_eff]: [0.3897, -11.0427, 5.0256, 1.2918, 0.0415, -0.1148, 0.5348, -0.0205, -3.3026, 6.5983, 1.2479, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8276, 2.1441, 1.586, -0.4572, -0.6731, -0.701, 0.1015, 0.0216, 1.132, 0.9424, -0.8394, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4306 left_y=-0.3005 left_z=0.0782 left_yaw=0.0969 left_pitch=-0.1581 left_roll=0.0742 left_gripper=0.1015 right_x=0.2869 right_y=0.0021 right_z=0.1526 right_yaw=0.1299 right_pitch=-0.4745 right_roll=-0.1794 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -16.3214, 9.1966, 1.1551, -0.3541, 0.0806, -0.0952, -0.1436, -3.3983, 6.8171, 1.243, -0.0024, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463838993e2c0bd4ebb50174e203392596eba8999e670909c79e9b4e1ce2b337",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0088952c8c4da839b71b481d114d6f64b1e3a6cb3beae80c0d19f8d7ab7e7cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca6d61278c4e31b65e9dbd41e9d22f296cf7dbd3a3cac4849ad839d2a26c6eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_095e49b6a96aa3ed016ab43255a69087d085dc772d0326c17d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJcCsRSar0QNFQQ9FWKe2Lmi9XTTBAuwq7DYn2nKt12_qGd9khxlky3iG9v04DgR2UdOsOktkAlDHnGVYXVK-f4s-OPwYfLBzr7Qzv2xmhefSUA8jrLnJR-GpQN3jX60XA8Z_NAjO3Bqpux78I9uuoQb86G_ZYF2_eUxVeD2y_X3LS1qTgXAdzxt3KfM0ayDheVHKe50LbUAIzD4gZ4v-QvuddWtGZ8fmLVORqfiEt9qRtujPPepwAvAG7dF09ovkz1xWo7h9ZW4GZHssFby_LFq35-9ZFbNq1j0SbzJRXyzjIyd9PsR06ZBu4zmXNfV7Xk6RIw98ultZodpNb5LxLBgBIuRf8DIfcG11SyvMZc46V7ckswxg_bqIxuPKiThDJTNBC4nNBFQrG-pZrAxgpb-IpMfSj4STXR_fZ7hzHo6czQBnx4XehvaRs6Q-tCnPGN0nqfP-TWJv1VrWphgeAwig3zTpQ4TCr39MUntZDh-FLrj_J8bhd3S8_R1IaFqkH-vLfGYqnNApJ8JxvRtzDdIn47ZbLED4v_j0qi-u7qx_6geaDr0XFDBn0GIcrZsUN5Gj3c6v1FG3l8TwCXfNApQUbwXK0jjvUfFGkPjm36lSfrkObZmXOBvMddksZZLkjMo2u-UwWl-470cWdsrQ1mxBfpzR-5pUkRz5oY4o_G78HrZtFvPWdO4SBS4blUOByKdeGFYN8vJTRppC_X-dQjkoo1JRo9YeOP2Z9bmDZNjDRCzrOzjTrJP4cae1ENQMevkbMDPGXhIuDmgBAk_soryRhvDNY2KmHzkPfFNB6qxxqllnWt1Vwx9kxvlzfp4yZu1Uv_IGZaa-Jl987eAuh_jJfzK4uKNqDlYmHI6zDhZi6fTbFEi1udaQkb0LPZxTA4VO_5ctcFH6QXtpFQBMDW15zmQVODnHhR065cuKcFUQhUAn1teuXtnyuj6dDBCKrDF6OfVZreQPeLB4OVmx7Gh3O_X11FKvvzUMnlIj8UrOlsMr_4MeR8pVZoUX2Lykm0fjzjw3CLfgPhCTRCfzZF9F9LVEMwyUD4Wdj0zY5C8Mff8TIRpnFwz42NCfs26lO0ugQe0rOd027UGkzqCRhVt2W0Aq1prykUTbWfNiw8ove8L7_wRN5bEzb4knOrCaAgkbvu8Uetg2Zum926z5ZPiaHvKBmI94vzVuxI9pPfoSFnLMTcWwykr5H-hnTuBuBJQd3IV0XFo-1c6Nh4_3lBmQ5ojg3a1YQaSnFXkswmcnYRYVJjEkc5VZ16lwR0sGDZTZMPQ7s6K7CtNwMWYWQOap64p5buZB3KDlnSjUioirZ_pXXAPHk4s1UP9ElQU_wvTKr17LxYIVvgjjyRkkGqGu-Z3m-cSFvDvlzip3ZUMuMT-l5sJFMyH2fnWzYnrWXBHw2kqgimtnD8xkpCsGtFSuBYfRy1_h6bHSU5KHTBlfuVI0CXaFRwnEtiQ9pxyob4X2zsH8t6HB2nFSW3jvIRsnfZwpvf1l1wA4gcf0Hs713IkQfebEt80Cy-pIU1NamCw1rwdE9Z6U3Tq7KfUhXrVWnh0hjYp9L5SExFcBwW3ZXciclciMEEoV8sp2MCcPFw7xPRMeZ1xLIi0jWmpZVIcSZ-ux5sFaJiALeXfcNa2Fe4Aa7JF_N12gIlyqXf77pMJM_pSjyTRI6Yd2G0w36SEs7CIoT7GAkoR9Pp20Euz2XLS9b5aPLjNcmD6B0zah5Mul-_JXD4OajlfIhfK4feaZLxkH4Ek2elJF6eztwVjq7gSVqNdoVlN4BsZ1DMlwx2mUTB0ic4Ib7GOUudWnZPJBXp3aYvG2Yt0X5wABVI0FzXvN9Lr-JkF1tr0GCQty2WPiqy79inYAC3JAx2pDeNF5mYJgI9mL0Bw4PjLDfNVQIf5Vvk7IMsNNjcieMyPkcC",
  "id": "rs_095e49b6a96aa3ed016ab4325a3b5887d0ad13c32f0248dd4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.3,\"left_z\":0.19},\"note\":\"The jaw opening stayed near a centimeter during the lift, and the bowl’s rim stayed in nearly the same place in the wrist view, consistent with a rim grasp. I’ll raise it higher and move back toward the middle bowl to clear the table before placing.\"}",
  "call_id": "call_coKMsMqpSWTJEeM4WaLF7kix",
  "id": "fc_095e49b6a96aa3ed016ab4325b7b5c87d08dd8869bd575087a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_coKMsMqpSWTJEeM4WaLF7kix",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9668, 1.9461, 1.668, -0.8436, -0.7132, -0.8536, 0.1015, 0.0216, 1.132, 0.9421, -0.8398, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3577 left_y=-0.3087 left_z=0.1647 left_yaw=0.079 left_pitch=-0.1808 left_roll=0.0696 left_gripper=0.1015 right_x=0.2868 right_y=0.0021 right_z=0.1524 right_yaw=0.1299 right_pitch=-0.4752 right_roll=-0.1793 right_gripper=0.996\nstate[joint_eff]: [-0.6222, -12.8342, 8.6496, 0.8132, -0.652, 0.1001, -0.022, -0.3214, -3.3026, 6.5846, 1.2381, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d38930fffe86fcd866f2ba17577555d945c798af1f7e19c6fc4a8cfb68493ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8987dc7cdb0d9ee4145440a2e7d58f4cd92fcb9f48456c3ccdb8083b2d47f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb031ba2c2aeedceadc4e79ca2c7715029cb86dfdaef6ef6738dc679523d06be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 121 changed as sent

message 129 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8242, 2.2101, 1.4406, -0.2016, -0.6338, -0.6979, 0.3836, 0.0216, 1.1297, 0.9455, -0.8379, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4293 left_y=-0.3046 left_z=0.0213 left_yaw=0.0685 left_pitch=-0.1569 left_roll=0.0207 left_gripper=0.3836 right_x=0.2877 right_y=0.0021 right_z=0.1546 right_yaw=0.1295 right_pitch=-0.4677 right_roll=-0.1802 right_gripper=0.996\nstate[joint_eff]: [-1.5932, -11.2752, 8.2393, 1.1013, -0.4567, 0.0855, -0.1148, -0.1846, -3.5214, 6.5846, 1.2625, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8276, 2.1441, 1.586, -0.4572, -0.6731, -0.701, 0.1015, 0.0216, 1.132, 0.9424, -0.8394, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4306 left_y=-0.3005 left_z=0.0782 left_yaw=0.0969 left_pitch=-0.1581 left_roll=0.0742 left_gripper=0.1015 right_x=0.2869 right_y=0.0021 right_z=0.1526 right_yaw=0.1299 right_pitch=-0.4745 right_roll=-0.1794 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -16.3214, 9.1966, 1.1551, -0.3541, 0.0806, -0.0952, -0.1436, -3.3983, 6.8171, 1.243, -0.0024, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9668, 1.9461, 1.668, -0.8436, -0.7132, -0.8536, 0.1015, 0.0216, 1.132, 0.9421, -0.8398, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3577 left_y=-0.3087 left_z=0.1647 left_yaw=0.079 left_pitch=-0.1808 left_roll=0.0696 left_gripper=0.1015 right_x=0.2868 right_y=0.0021 right_z=0.1524 right_yaw=0.1299 right_pitch=-0.4752 right_roll=-0.1793 right_gripper=0.996\nstate[joint_eff]: [-0.6222, -12.8342, 8.6496, 0.8132, -0.652, 0.1001, -0.022, -0.3214, -3.3026, 6.5846, 1.2381, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d38930fffe86fcd866f2ba17577555d945c798af1f7e19c6fc4a8cfb68493ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8987dc7cdb0d9ee4145440a2e7d58f4cd92fcb9f48456c3ccdb8083b2d47f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb031ba2c2aeedceadc4e79ca2c7715029cb86dfdaef6ef6738dc679523d06be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJiv-Tq_cUifkdSU1_xfMsVnnol-Nnkkoe6bKYRzZ67L0iZtiRPiRhCrgS-6tTzjLfKZ3X68HHXuUmG8u54sH7nsHiDh76ociJyNL7j41Fer0TpUcH_bZCrmle1DCGtRDlb5z8RtqnRnO7oIIQFfWi3p1sdmH45kKd7rM8ecokSoXjsMl-lNOEkm1lP_qTdsZdHhYCKlNxxgCv0kg6g0VWuKDVnfBDnnQnc1WqEYF27NMJr2AUJ6ktP-BxmNaaw-8H5bin1riICMd4iZmmwX1J1J4QAjUgZUB6yjDxue39Hgu8NZ-ltqLnEAjs0fY-iGMPBSu-Gmn8ipcNSY7sREM97A26goGRvJsbhvS8qmvnOAXOt9fgXsOgWuNgZelye0CxO7E3DB0cZ4NyscKgP9PZTTQzaA89bEATsCJcwMuuDGlsxNbcd_koBm9fO48Dj3AluNrvrHreXG2p4Hex9k9VjTeA4eT_aLSfYkuSK8GG5f5bDV01zJ1jksWlnWb1W_tEyI6JEiM9Oaf0Hr4_vri762ngf4ByZgzf6jp26V51QkvgmPJPXZduxPa-8aSgU5-w7SJeqhWJ2SnICxEb2SlSGbk7j3HGPZJcDpS6ylieJfOETxuqboMtsFbR7vsjJB-1x2Hm9yvs9I1GbIr7KYld1BMs7s_T64rwLHFb2OIqXk6_t20Fy8oBhnz0yoeGb8bUSBILKtCXFIi-GxrA1fBYkwnCSSSzVzTp_tyyhBPmbYvpRFZl0jOGj31qCl956TZHmijMRbmLYwEShFfZRVr_tbq-GOAa0qHWZSBlz2tgYxGqA4A5EpDErMUqRRMw1L355ZMU1KT5Rx4lMign0JObp9SwLZ41nZaL2Y6KwNDwrm3MkmwGhPm9gmWlJXAwm2pi4v5DktClF_9OaB5OYRtvxKoGkAnpxjiPHHJ1DHiibPCHtbuKbMFxZddVtAZFf8qZtOQpoQrMgzLEiiFzwxnW-G5DavRqFT0TBRIeGSN1MBRterCbScit0z0CGuVSOmFffTHN-OwDaHZoUJbcfn8g3ICozA-JLRKkypZHbjQgpUt2kHpUPaqBtHLosbIC2Bfz3ugZnzo0NaIdsUNjO05p7K-wLAhv1Q2YwyU3mYsCf0mouuBtzNpGLcJedmvkJkSRQ7qjCAKaNdd0oNqznyNeiPR5Gx_AFi3-j9ArY_XpcgoB5sVH5GGZuySfq_E8CvxGTHlBjirBhh9VhocPAHkStTwZcPvBM78SrlidiEHfc_1iAZdfXIIqtHa6yd4wMPUTmrT3yRPlxIt7kmeFlihS7IvKqmEYFr58g7iH3o3wgN7USFRSon3y9nFORQgnbTaau38PjGrbacIKpqQWBVuKmVm8EmEkenln7-mJYW3QhSw1DSvq3kWTNGEh40re_xS49Q4UMmcE-9FfkdOLt8YBJbEAyR3pK-OJvCXB1TGQXfVZNAfsTmK9OpvSF2Ow8f9VrLGbGitCrBjFrqY8YS0en9ziYDVreMNjWEWuoEkyJ8pH2Y8VX6_9cNAI_-XciWRKIsvpxGE65leD6ucfLoGHM9R5s58MSBmoK5j7g2aSEJpXxSlgqSmEgEoYHCcDpZAY5e2_Hg5h9M_wCqPYmkScm2Z9Akxeoq_u_ltWpmKw0MGMa_dpwdn0fVHdIiA555O-Eq6HAdfMzYuzHFzhU2MIpqSBVWxvzgx7gEM_N7E4qYyM_AH6Y6Iwrsn_YRpeGHl6L8fUZZEVYWZjLVb26FJmshnRoLpIErKudSWD-WhY1rglfSUFqhi2O_wG8EjjpwkqBGQYB4_NBM10SHa3aRx4LhJcrbyW9Waj6tT67lKRTt2eNvRkgGhT03olC5Com0ZgZ_tOrOz_V2eTKTneDSMrhlpXfilJZdGi7p0_78o2W0IWA3QawB1donSaxrLM1GAR0ecJSVZmu-MpScQyqubUhFKJSAMOHrQxNDHWswKhxh5RVyG2ZgCCo3EZeG_8BxBihB4V4_zFtngdf1nFm5Oko4aB7AalDQj6boAPpn1XN5wfN3JEgcDaNwU5SCDfwjrCOmlUVk1p9ZRd_to4HZu9psxM8MZwn7MMAQAJ6WLbKzNLroO_6dpW9t1FspbcqOIKKT-4fBY5DAeEl8PE67rHywZyLL21Gj59k9uK0q1QadJJ3FxikPHrwHPWQAYIvVKo0hDMhbSx2VorBlyR9cpQrsbQAj82PNUPPz4YrPS9_Iel5VlEkeUni7MCZnAe5fLfKOYKziDTeV07FXla4Z3U5DRBN5xer4-zVsZQup3fPT68Da5X66xP3TfSNr5HJTYc7-tZ83TScw54jqEI-eNhYqyEIf8iHizKDMkLNU-qnwEGe9AwOV5LFMe3zXdXo8bO9uktm3nKXhFLZuONxUoGcz_9j0Hf0GVmIU6k_3pYa5gXZtJ--fbwxpWd8-61ggWFhj46escNsI1WQbnq1IsGeemK28fUhKCkSj4z6nupUEw2RM_1I-nuanLG1oCikOsfDsj2riMQj9Pj-Ao7-Sz03IdjB8xrObvY28_mOL-a-C4vVoaJHZpzaF2I3-wRhV8MaUJpRDXjTjJjRihnrCErNOaYEm5af7grzapqDUfaenFB_divuSA2yE5ws1FS3xOxBYKDLGdLi_SMCjV2sqYNfNQFA-nQBVJ-Dz1sXROIF3p6wOeB2YU1pBbfkDWXEp-2tQvCBrpLia1nw-6yJi1RtJCcZJtv-KwHWXEmBeHDGngmRgOuVWOrigwWjd6ndsscRz6OmHuqpu_GzZ7Q447XDrbGj1Mvj4KaSds7C0SBJ23SL3rdwh2qn1AnyyAwllAWNJM8CGG1L_1vnvQwjfz_Lbn2vMmp3eKQPGHJwQG5p12LEkZ0fDmo9yAXjE9RZPSy5QkgzLgBpVhVitz7jGFnTqmUQPagyCzGfwsSuglIb1iP9ZrrSbcejw97sQ3Er1jGt2hdIGvvE6kVa4gc6sjTKcGxET1UVpnhBtXARYkUzJwgm7-4DS8NZLM98WTJ2-bguP6NGnVU5vAmV808qocPSBACKFjB168sJTlcm8j5RfgC0F3A74vFuVn5l41shH0uHMqvNJqPAUbfIr9BNPCtlAX20cqD0JZbd6e6QVSvyfJA_epjDZj58RwgyIl90m7ZaEWAPw_ibaMhkYN8uxmSwL7HqBOH0q448XwRAJosDMUpltm8s-ArJFVxZ9blrCpclOG2CFES6MDy0B-LUpo5Coc-MQ4QCRl4USEVjklxeY-KT7nsvQoqJdtpNa4wmz_6OIcLZUyDuxz9V1geDjKQNxg==",
  "id": "rs_095e49b6a96aa3ed016ab4325e8f8087d098f9195823bf0316",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.39,\"left_z\":0.2},\"note\":\"The left gripper continues to hold a nonzero opening while traveling, and the middle purple bowl is visible below it. I’ll shift the carried bowl toward the table’s centerline while keeping enough height to clear the purple bowl.\"}",
  "call_id": "call_P7USFBsUD3ImLmZK6rBOB3cl",
  "id": "fc_095e49b6a96aa3ed016ab43261969487d0a397cc86092e2bd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P7USFBsUD3ImLmZK6rBOB3cl",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0573, 2.3238, 2.3878, -1.2236, -0.72, -0.971, 0.1014, 0.0216, 1.137, 0.9405, -0.8417, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3611 left_y=-0.3959 left_z=0.1944 left_yaw=0.0628 left_pitch=-0.1894 left_roll=0.0196 left_gripper=0.1014 right_x=0.2862 right_y=0.0021 right_z=0.1503 right_yaw=0.1304 right_pitch=-0.4836 right_roll=-0.1783 right_gripper=0.996\nstate[joint_eff]: [-0.7453, -12.8889, 7.4051, 0.3883, -0.6911, -0.0366, -0.0171, -0.1573, -3.7402, 6.8855, 1.1844, -0.0024, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d0dc0ed96057c1ed5d4742b5045d303a6b2e376e040d1dbda26a2a19512a89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320a5287c54b09c275274a760e61d0c9cc3745088646dd94114ea9c735bee247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37843404e7beba8be1b6374af5a569c82e1bad1fd4930e5c2d3e827a2c83ea22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 125 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.828, 2.1975, 1.4551, -0.2081, -0.6708, -0.6891, 0.1023, 0.0216, 1.1297, 0.9451, -0.8383, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4333 left_y=-0.3042 left_z=0.0349 left_yaw=0.0814 left_pitch=-0.1205 left_roll=0.0301 left_gripper=0.1023 right_x=0.2876 right_y=0.0021 right_z=0.1544 right_yaw=0.1296 right_pitch=-0.4684 right_roll=-0.1801 right_gripper=0.996\nstate[joint_eff]: [0.3897, -11.0427, 5.0256, 1.2918, 0.0415, -0.1148, 0.5348, -0.0205, -3.3026, 6.5983, 1.2479, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9668, 1.9461, 1.668, -0.8436, -0.7132, -0.8536, 0.1015, 0.0216, 1.132, 0.9421, -0.8398, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3577 left_y=-0.3087 left_z=0.1647 left_yaw=0.079 left_pitch=-0.1808 left_roll=0.0696 left_gripper=0.1015 right_x=0.2868 right_y=0.0021 right_z=0.1524 right_yaw=0.1299 right_pitch=-0.4752 right_roll=-0.1793 right_gripper=0.996\nstate[joint_eff]: [-0.6222, -12.8342, 8.6496, 0.8132, -0.652, 0.1001, -0.022, -0.3214, -3.3026, 6.5846, 1.2381, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0573, 2.3238, 2.3878, -1.2236, -0.72, -0.971, 0.1014, 0.0216, 1.137, 0.9405, -0.8417, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3611 left_y=-0.3959 left_z=0.1944 left_yaw=0.0628 left_pitch=-0.1894 left_roll=0.0196 left_gripper=0.1014 right_x=0.2862 right_y=0.0021 right_z=0.1503 right_yaw=0.1304 right_pitch=-0.4836 right_roll=-0.1783 right_gripper=0.996\nstate[joint_eff]: [-0.7453, -12.8889, 7.4051, 0.3883, -0.6911, -0.0366, -0.0171, -0.1573, -3.7402, 6.8855, 1.1844, -0.0024, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d0dc0ed96057c1ed5d4742b5045d303a6b2e376e040d1dbda26a2a19512a89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320a5287c54b09c275274a760e61d0c9cc3745088646dd94114ea9c735bee247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37843404e7beba8be1b6374af5a569c82e1bad1fd4930e5c2d3e827a2c83ea22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJonR2cZcSXg3zEFw4hahgfnOEg23JAiqvugMbnYc6XDXU4sR7RrknKp2DOmRxBSW9vMwd1w1ekxN-TjLmaZpDM51rF8V7TTV1HyVpZowY0GSdl_TxE65UyiH_FoAm-nQDtvPUNMen6D-H9nXCi4d4SfsfSo8F9sQd2dV-Z0TiRgaAiPxsJVDgCg3EznoRdTJg8NbHdift3X59BBWSoiiuuXajsOUtgVRVSZAFa4UZa7k_M3o7uZxB3EySlwZmQ-CZSklymoM-dMRyzgku6aGKNa5cUM-anGZDY-8sgYHWK8BEiaP347RLg6u8hkTUg3lijpZMpiDuiOx_TTrwytGU6GjhjouiZMqmMYitMsYds6UWj5duXs-LlsBOGIyb9WbCQ2HnoH_Z-ae0UQJRQE08iAAqwWAys7CAGPbpMGcjkJAor-lNnXXwsmtGP8kZRN7FOSMKt7oDRTQOiq6BU7skRZFAdCKRlE8FDttbqU8q3txNgreOYKv-jyaxJS1COZqX3d7dF6tDZ9g7bQAyhRNb3n90kOfQS7itr96XVgfcpMJxnTq0UptXfLS6iwyRofoo_gQlfjeGSXFN1wTOLETt13TDzyhU6cY8iubqj-BReq4WoK7aZBxAytoTobB_3TA1X9BO1r2DpbQH0I9W5V5WZXpvC5nNqRldxNshStVUKgl6D480Pp5TjKsjuzHmn8SAd-f2KBJjVN-kznMNIjk8J_uyKyv2_gtgz8IVXuTq2wZg7hKMq9Me75TFY5iNkaDx0UEo9eWSTSBIVrbK3gkVuU9-zybf9GndAodIjFzaAgacGVdNrSb4fHCGiZbQO9zoHw_-My7N381WSLnhUIKJ3wL79jlQdePUktKvqlSpxvEmdrkordDFD0FHhm38DRYRuJrh3evRYK8DSNF-YRY-X8jZpbSLz5gIN06SLM5VA_194rjycRsDQaReq-9U12mJRItL4EkDuvhxyWRGRBXa0zwvTcCfxCywOK9qUBhLjig1Cz_B9zKm4wKOegM-MX0leLzCjqFt7KWmsGShPT0bu4nT_qkG6kgvmJnVh2NeV-m5d9W6rsQ6nCVxZYprDohsrzC1jA5SZMfmeWgIgL2ctoWitA3VPkqTf-BzjT3W4WMLPWAAHpfa2Ls7_k4qrReNGGxsL-nwByeJEjCwsdAgZmgv3n9H2zI-K817jvtK6HvlzyZthPT1ARogfvBuHLgKoNf3fGWh8puY4TbDW5CyfnolB0Ocw-LtrkrUcAv-cVjI_gcC4wUMqb3XWSnjMgXxc_A36tlxvGaAyq3xzCa-83OhEwm2lQ6qutMjWAH-FBhj4CO1DevTh3PX82kMWQ62UylGjSZJ3VsijzLXhmRcomf-JXDIyatfY9oOpTJpNaXocnQXjDo_VWGT-peEKFxh9NNiRgOD5-zG5tZFO2iMsauq17lBgk95shVAWsq6D1UAYfo8aPGMMZKZ9S1ztZGmpIc0pssLK0PiRUl5QKKR4ptgj-9VUF284ykUvlsbwWrq5JGzWLC7TlidzzsMjy5gJFWzfC9MEHRyjDNVKUj0nmvF-aQ49dNkPBnDdKUNOPlhds7vqJlgHSNMEkNAxNlvofP4GQ1vZdqsx0M32LO1Dw03BbuN5fXgrbA8kmyZlN2JjzMggLBANWW6aA-dRlVYeUn4NgquuRu2V5H_3X-p0QY4SBJYtNgi9GTzuYvyPndeT1slnLKxsssHZa_hgxuLd4OZcksnTflaD6kICzCbJRmRC3kI1chWlPyB-8DRF974HftoCAvCnYFhviRZAVswdSd7eV-BctBuav-vx4Wwwxc0-5F9PeHOLQtKNjnD02X8Y0AJb537-wu_RgQiAT_h4At79o3GWFVPXtVkn_erMIOvbIxHutsPVWMWPFI6Vhw7_F1zm-6D1LQKbk52nTMOOqZ856sKLAmdLQM6cxctSkiPu3vI_-VWhwkxtQPy7aI74Hah6l-y7qoCa_oOl4BrWWTplgTRjd0lxhRWGT-hWVSzMaFZejaBcW5DCDSFVaaLRT09iFzd4hjU1jDOXyh6-Bne8WGcooD5iII3plvDHmczAwapPy7Fdb-42NB7O0RNl2TCNSo-sQ5oh_EBZ_h7hswHCj0VXkhIZY7ZK5OcLluqp91vPSMq5alCApFclNAAV8UZOSu01Cv3T991ZvPu33ZL6p9-p1-xvFSB5lUcr_pC2UENJUKHo7UoNFv7kvQ720YGaGCY4opqtiLSQLK4lHxfUBW5MKgvvyJPsEKVYTl-AHKJB0M3c1qvoCnUkX00EaGk12uwjKuHFuNMkUVZETXnMswJ-20Yik59MgHnz23_RtYc7jj2Gttibs-P27HDtKGvVlryPdkhiVoOk96Mu-jIUiZS4wljwydzWwnSbR7l69Gohq1Bcsx7bZo4JFw5Y-bRLfORC-dRn0OnTb9HP-CK0b4U5w1GsYSzy9xZ8hFgjXIrCq1_1azYUdPjFy0imFaLumj8ltvavCyfOYB6n2TRE3eSQ3CvnPktjW20Mu13rvCKgBlcb2lO1CZa40mOFhkishq6EB5gm3zNSePBzrQL7QZEf90rUpbcwP7vwiQLGygbOTXkC8_6bAHC0w5g9oydlNTgG-LwCqzfbyBImkNqbbqEikaN5Np_YiA9tA6CI-73Z9GemE_56c7dK0fjl0G4zbiaZw4lvsb3RbWYuBWun2GcL4Qh7CT__MrTJ2I5FhfzoNDxMJqsCIj45p3BrukqpViEFSS5RMHeiUnQfAX4NzUYyyobkahm6tz66GI2okJ6PcbRcDV1HGTvlARdMfUap0yAoTar6BzECGm7mtdl6_WPADgoeCwNXPrjXvQeitpUoBElgqx65J9MLUOOiyxFJwL2Z3P2-jNsBDr2-V-IgDXwxMpmCmh1RXLUvPoOQQzBo3ebA8lW_StNnvED3OH4WOciQyyPNxq7A-1zcjs-5bINgDz4OVg3EuV2W0ct30X4Ufpg98YV-ln5DbloQtl2Zo4-c2FxN8Ob8lu1insZP51vXsjLt6L5kvZ6xCzCZBJzyIR5JnHQV9yYtwrNOdrvJzQ2RIB51AOwpB24-Wg91z4qM7j7MNWLLVucW2Ut21EoBjE6xy7L7VxqfIDBCvaT-QGlB5q7JK7xrz2zdLvTMjkibmsUbmv5qA8l7VUPGFhuIgwdwjWQN5X2jFRHCzzAVxDP0R6Dgm7NQ4hQa9rZiEDoq8UVP3NEDuhFG-g0NzVrU-6OcZjfFd27SvBnAaaGQsbdvyDk53S7GHn4P_BEMXxTNZ-UShDiSG4eMusDTQoh51EZKDPSKopsk4y1DA3TfPP6A_gxY_jr_qb9T",
  "id": "rs_095e49b6a96aa3ed016ab4326438f087d094a5da361a48af77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.395,\"left_z\":0.19},\"note\":\"The white bowl stays fixed beside the left wrist camera as the arm shifts, confirming it is being carried. It appears slightly forward of the purple bowl, so I’ll move the loaded arm back over the purple bowl before lowering.\"}",
  "call_id": "call_wxzRr4SBC2O6AILKSPn3fw5J",
  "id": "fc_095e49b6a96aa3ed016ab432672b3487d09db345bb6e023572",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wxzRr4SBC2O6AILKSPn3fw5J",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.1683, 2.2486, 2.1605, -1.2217, -0.7353, -1.0809, 0.1014, 0.0216, 1.1389, 0.9401, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.303 left_y=-0.3999 left_z=0.1617 left_yaw=0.0484 left_pitch=-0.2313 left_roll=0.087 left_gripper=0.1014 right_x=0.2863 right_y=0.0021 right_z=0.1497 right_yaw=0.1305 right_pitch=-0.4855 right_roll=-0.1781 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -16.5128, 6.3521, 0.7204, -0.7106, -0.1245, -0.0122, -0.0615, -3.3573, 6.8444, 1.1844, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b6bc6bbf5c27703912fa651fcbfe99e2175f9866c56ccd3af488b33c5ee4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad77c736e97f16477f6f1039d9d98c14cc288b4eaeadafde15d29b8e302904b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59cf69b98b98f193bd2521ededf91c1ab1c793b3dad67dce1595589b4de59da7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 129 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8276, 2.1441, 1.586, -0.4572, -0.6731, -0.701, 0.1015, 0.0216, 1.132, 0.9424, -0.8394, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4306 left_y=-0.3005 left_z=0.0782 left_yaw=0.0969 left_pitch=-0.1581 left_roll=0.0742 left_gripper=0.1015 right_x=0.2869 right_y=0.0021 right_z=0.1526 right_yaw=0.1299 right_pitch=-0.4745 right_roll=-0.1794 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -16.3214, 9.1966, 1.1551, -0.3541, 0.0806, -0.0952, -0.1436, -3.3983, 6.8171, 1.243, -0.0024, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0573, 2.3238, 2.3878, -1.2236, -0.72, -0.971, 0.1014, 0.0216, 1.137, 0.9405, -0.8417, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3611 left_y=-0.3959 left_z=0.1944 left_yaw=0.0628 left_pitch=-0.1894 left_roll=0.0196 left_gripper=0.1014 right_x=0.2862 right_y=0.0021 right_z=0.1503 right_yaw=0.1304 right_pitch=-0.4836 right_roll=-0.1783 right_gripper=0.996\nstate[joint_eff]: [-0.7453, -12.8889, 7.4051, 0.3883, -0.6911, -0.0366, -0.0171, -0.1573, -3.7402, 6.8855, 1.1844, -0.0024, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.1683, 2.2486, 2.1605, -1.2217, -0.7353, -1.0809, 0.1014, 0.0216, 1.1389, 0.9401, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.303 left_y=-0.3999 left_z=0.1617 left_yaw=0.0484 left_pitch=-0.2313 left_roll=0.087 left_gripper=0.1014 right_x=0.2863 right_y=0.0021 right_z=0.1497 right_yaw=0.1305 right_pitch=-0.4855 right_roll=-0.1781 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -16.5128, 6.3521, 0.7204, -0.7106, -0.1245, -0.0122, -0.0615, -3.3573, 6.8444, 1.1844, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b6bc6bbf5c27703912fa651fcbfe99e2175f9866c56ccd3af488b33c5ee4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad77c736e97f16477f6f1039d9d98c14cc288b4eaeadafde15d29b8e302904b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59cf69b98b98f193bd2521ededf91c1ab1c793b3dad67dce1595589b4de59da7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJwEKzcz3-FTH3jnaNQ8lZLAU4B-YDBLE6WSZsVxKu0Sfpq2jDdK-ZjPLXFg3ghrgBRQScOOqX49tCCwDxRiNfwELxN36IFdiS6UJNHXw0rJ1X0g2xyWHtzblnkOaiOU9GC0XtfN6986qgXiNuDa9T69vhrZIdL6_VOdoGm5jpAIjTy7y3bnAB0RdVlIHlaQY0VJSa6eIjbhtzl9ljgzjr3nip7pfxtar54zif_mkGfu0gPAoNgq0Kyjy92_ofvq8U_BZNMmqmNadi0duI6TiSOwGTNyK4VBXeYJfJu7npRlxoqYNTtIhEGPbp2t4MB1x30RWV5h7dyGbytl8LlHpIiPUKvNad8ZcMR5bxDzoMoObz624sdvQUXWhqwvhevha1fGFOsXSYCE1MUlJ7THKQIDUvd5dSETX8SQc9B14Y-c97qHqwtnrpHi6vGf0DpwKxCiKHL_WuEj75QVrgyFegP_uS10cK30-1nvqFF33zul_gNl_06oAGkecqcnL4ccZYwWDT6AOO8GHe_M1vgnnlzTIWjpBHe7-W7mu0JYtGCCVFZNg5WjjAXXDk_UmkrWv8mLqBl8NEfZR4GSb3iicwnyAH-Izl69qTVtDPn-B2ABVt_ew88RxXJs1baiiONCX42WOOEIyY5Qur9MxdaEPoRS2Km_buQrBZUtWCnQHIlUkeKUlQfb8LoZBri5HJ1S4eEOl9DtM0B_KZBt-G4nZw0U4fvIxiygtTYb5WlwXrV-993BtyW_45T3ndnjXXZ6rXD0815FuHPYpIGEvJ_AwspWeTIWQnlKCIAD6-Otch0o0_unA73CvsNmtFpNawhBrAovXeJ_LaWm1I_dRWfE2hjoxqLRcA3UTLOokYssdNZlV_9b2myjws68D0CnLVW630Q_AVFaKskftigjreMJaa-8tXGzAJF3sqAOgspE8g3-ymjYUwD0-IleO1RJ8-BfMi-qyEXhw3I5Y8jFcmsPrzO5MyDvgtcQCGSl-t6KkD-ElnthaQuhec-n8x6XZUhXpSsLRnHnm-ur26HbnL8qNjbyHYrr25xXdWiG0FZ8YAgUItVFh-u26ZCoSi1mQvWjWX6wkjrIME8Qz7zBSm0ycEJkrh_HlcGe9LxlGUR6EluXc7_pUtj7mLvf7DMMS6-JHtbgkjBNM0yjIlb7_jvUXxD2H-1iNmAjDz6OMmpMMRYfxq9T963K7cohDk74En6qGivE0xpG5VSWYem2P-oQ2PsGqgVZokZ6yN0YupyS5IH6aj1o65Hlhe4E7lwHUT9NsO5Fw0s4fHPybEGe1C8eLnOuroTSQ1auPljq7VNJu5jkXLM8723rgMfbNDr9-PIS_gFRIuZFisWOsfYRiK8ej7Kz6dJ9c8bvTmhaKx4jRCGQGgXhea-H2VNTsm8-xChFRcGeEvORW5_sBkZmrNnLz4jSe6-p0zzaNJU7hgEExlNcCQdLFTwIflz8hgCroxQJhEWQ8DzJ_iGGphDgXwk4YCVUKvyRwdT2cqDVRE-g57mmV8Ce9MfWZPTUXwLKy2KuuxqVLI_t5YXwC4Hioj7se0Jjjgj5C6Lz5baC-lCZqbkcn9LEot-056-0jY_nMCLiez6MqZ52LJkaCe2mDeAMEzo2h_LduF0t0m6ASHefs91eVbCJsTDAn2DhdUEnl1BiayBwNSvr5xptGwAQw07mtQ4kdRsoedk1YzA4g-KT9AwS-AeZahfzp0rwxJSyNRmp6GkWomaIOhgxIwOSGDTvLFhenLg15h8HGDDlwhpyQLodlsztnV10cemy-W6Fm0TbmBNMPmOfIAGXBIe-I2Fipt6VElGS8r-3qiUBkWMTqNJZBlOO_9Vz1QTmi9fLznVjOF8qXHVb9e6Y2FMrdVzo2hjWtpqYM93gEBaIXuoWPOA8Wv2xNdNTSn6LTN_1ytBQUom-Ce0e3WDccE_YePj5E5i7Q54sma8k7dgnacUxVqBy27mVC1flL_ZO_lf2CVJHVWMVkm3PN31UVEyJEdY6wtxBKjJmDoSpdNtpsf9dNxdBlyK9iik0Bn-r97QuIUmEqyHphLeFNzd0XV_LYpxBVk1RTiLHUGEQEWfWbQtcBaCfeYTQ5sy51aG0M6JJcdfvY63fzcfkPxtXHE33F8JtisU-8jXj09ZJHYWT5qRZzmsxk9aeZeX0oUTlsRyYYW1wo4wgc5yjecz0LDp7V8WQXItoX7WOClWhRrN_ExL1-8uIjNuyhvppTN3MRHc2G2MzkntdIx5sz5mRRbeoid8Ic8JckNnkUJqvkTDNE9EXUJu4L8zL2DbbXr2F-BpXQgSEJwb2TwSrVt1TKi6iXMCNXT_bA6bUod-Dl6cwjVm0rFtqAj2tFon4Ic92rmJCSmOUg-bqSg-tfg_vL2jwQKVQpGp0-ZwG2iJURxe7U5x-OXfpkCpEwfuKIKh-nLW23DoptSOd5OAuemhK4ESeAQOdeaMLRjc_CbpPem7aeTaAUkwpXKrpejQIzwfZrt-dS0MV8rg7BC7vjvlR2Be1ggXk12UopdjSFN_W8lZb4O2krM3HYl7Kf-CAOlrpEMjM70uIM13kLW0mOLO8akCB3_Dh99Y-DYzsByj8S5j5snQDA34bxpcBi-Tw_IgFDv3RXXNOB38OnN3N0d4J34KeZhjEDdhTXIqIDM9QKl0QndvtCg5wEqsy5s6qr-7cX_yJdZy_1zpgYX0DiyJuqzlEcA8UNyFjQTDo3Dkg0r07aZmTsudEpL7QlRk9QNYo-Y1qFnLn0zLEFUTjQGg51g7Ge_50YXaosX0u_WbZzYrbVS4DNwKrAnLrK15-SAck2BBrlUG2m5wbMA7py_f6gb3fzhHzwf-j5fxpaipAiKB1y5D6eZq9AJTthk0jASaPMtjAXe-c1ogogaC0sl13rKs2wncdxAxE4y0uxkSf_g_ZtgI1UAys9KMnhMOZpa_C9eEZJPM-Mut4NPn0q2beik4j0Zln1gU05d-7hJNvWjU8Np9z62gC5MZ2RKF-l8TSbDZu4E370jGC517-0hXrJTRp7wOsHNrmHcCzcu2fn3hkTRff7tklNfglowia92WwZsZ9BRi8x7_phX4YLqotBdPcv3e94ltFBXa_jV-usYhdR99cyJYGLcUpqd9EMRPNIFyrfGKisQasB3DzoSU0pGNQpGREV8tPwxbmTW87G-0QWg6xbCnzAFi6uV6LJn_r-Wb2YmC9BXONSb6JW-Ioke7tCQ04VvpU-M_cfDeyJ3yZZK69wCaQgs3pa-XAc5o1fr8ipX2YkE9TDgc4J_v-xlEIjbXaVkb9_SNs39Ofm4gp3G7dAKTyvKei44dQE30wTMeAc4t0Dy43_XKwInkFWFsA_x5NdQQX_VL-S6gv2OXgrVrxrWy5EW6khrmAmBMuDjoYLoOpw_l0bRVz7rK3FtrxPbx1W70ERaTjUgBWMb2rRwy2KvgSmwBLXcShQ2cjAoMoW8ajrGcHHVpUoAp69gPp1o8-5DI9Vsgolm-yixK_pYP3zttDnA7IYwnwoBvPQ3sn-WyiwVV8q45EkfItO9DlAYEyDsGjKxRgQNU5k8EWs0QWMGybBcHx53AGpujCVzBjyTqaJIXv5FgSXr0rr6dnG0PrUpd1g1hSDtl6Zikg7o_U3kamDA-DJIr-_dodbKxJM0ADF8HGNNWsodfTz-d9wdKJYG-PVK_kU4E75T0H7hpbdJlmfrUFulgQWqYCIlWxNjtZZT-1hQBnrzB0lmM8ohBY9TNkcu4xHBJtY8EGSMioeogY1MdDvQGtWmYyjJjggCyhfWBckvFUuXbn1i1oyki7WzBWYVHQzCS8ygJKW6n3eKYKsmtGx_jTCjGDWffGPmSzVvt",
  "id": "rs_095e49b6a96aa3ed016ab43269761887d0a7372896ef55ecd5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJwIGzhoYOwqCqoMdzueXbpng-vGkvtrXm4_2OTG0cw3sDNLHLnjl72lU4qXvE9zGZaf9o7L9-tHSvndJrSrsrmi0Pgb506ZZ8Mb1mgueexQCo3-lVOCHd1sXukZI5CJlYVEIGXudda7eZHjrjZw_rkX4s5LSd-8wplsIYdTlY5jUngYQIaF1qBRw-OYVe5jo7p8EiYJ6lbqsRxnFr-AT3Wqu9aZTIryBJxpj8FZ2xQwPXzo-xF9jNyBajLC5QqMrOlG8EU8_nqV-iUPyikstCbUcolm7mSPOyTi6btXLk2F5tyQGbd0OUEWyUAHFKd9FEo1bULdqV1AIkpRDMwJizS65KI4sDMr2yj-LQao3rpsyA5m3SiyLe0cqA547LH64BiZ4PreVByYKDjUxdqasWSM8Ee-z0BcUkR-mQTtLmmgc7w556sGvrdzqQ6-v7mc58zHeHCWoKL27ezgTs0FrzfR03BwzWGpZi0wBx1Dj4c-rJ8a0c9n0HUXj-XeGZz43Uw5YKdfPABSWjmvEfQ-2cUpgrknGAJDYc8PS-gocFCn0UfFd8nnEAjBlVD5ygRjrpJcowAsnUAca01Oj5zrIzVWCf8NlzFEuJhiY9BKvqQbQzziSPgtSJ1lrD7N2kQXAe4Wd7GmYAP-q3Exp8v5XWFtQ4S0y06fJcRdYa0vCQzkftLYmx6cS92I2_-oR2j6P5qU3DxOJmsMPAqfEN0Kk46vmWA84qtfd2Wp0nB3D2meUusDFy17jiHcnUIsF74k2b_wRD6mMSx3IEiQlBAWoJjRX-Px2X0KF6nKeEmUqXlfSzXwNpGAlGSJ8_RXtVPvJHCJQ8Kj-o-UDL-h7LCT97-LJn2U-IkzQka7TDsDcX8vK31zn0dDD6VIWIXm3r2dwUZ5hVCgwfEdSPLQyHF_DnheSOvwcpDU8oMBlgQtEIyejxAkvyM3rk-xAxmqcccUgb507MyPgPa5d_wHJ4HVi4OqA7iFM76Tvlp3cD8Fhrglk1ZGu6s0jsxX1o4VQ6UGUpq_yvnWU9pQSs8jeN5VakaKupUbqU__rvFo4qBMnVTgVJSg2am3A-gUsu3O294zVDxFf08sXqY88sXMp1w6qnoEkib_IOd5DhE9UYu7rTXdQ27erHqcmjVDtNoTtUmubx3h0JDWLguv5Qz1UwvVO8hmaT77l0_D2dWvUMCZrSex5SqJqmCbz0CoLRSovJ-TXns0GlruYqY53yMqiTmlFzQPtkRD2fqhAl_xiCUe4L_aQXfvZ08VNq--MiQX8tANEdaSpjmtIXw_Lq9_WOHEbq_79gvdixCVQe8bHXPzEWTYkcXfwby0s6isKEnKwiFEWXiaOrDAEsaNFrONkCUduZHmAHqxuMEJ7aGT3a7gF9oUDRjPliRRQj77FoSWqDW9moPYzI8GE_abHazyUzA-dangTzGRd0TDk0aXYd27CWrgkPjDFTk_RA9CFlFJFLu8ceLPqJG5LdqyEWAUTtpKrctp8zWeKtFqMTwcmItS-7siuadkA64g7l464HI9tN6prrLVsjGZEyfC8-QqrU7LpsmEWYKsjGJGtBoHVsr-Gp2wN4Ew7X-IBG-6sN7a-5MHBu96xkcnWQu5iJ8zSp3MB7WIaSCeyEHMpuxQvvQdbaRvwn-tdHfOR-MGz5AxI3zlJKy6ZuG8kAsZIbvy-C58xFzKEpt5zdhYk_YxD3B1glAlWbggtgqgQBVq572NbKGJXEKsk-WCG4Ab-51xHF722gXYyIf2fClRFYW7GUZ_A88eCgeeMZQXkYp-wqBASTwNMi9e-rZZiVrGFNzZCvS_NVpdxbftSZXK1s8Cl9Cq0jGFfOnZTt4jIi8mQ4r3EyQ_y2BhyzGP_zeatAv369lUbcJkLwsKe8GbxtM6GhOWi4wK0_3OpfEKUIRIpVnnCWN6-Cj8FlC-UGlXKX3IkQsaFp6slSmWmVJzNKxxaivjtfYuXl97tcadLK4NdrHzmoCwwN0d1Ay7-9VEo45X0V_w2-iuu3j0jMAZ9CY7kvxWBGenkKKH6S-NO625DttXsMFc0ayeAsJ8FC2fdtY9X1dQEPdZ_cBC1lEECDMd_ZWOvEiD_c-k-qg_uMTvf48CSD2o5apY4L4KySO1Z-gsb8sSJ3JBR0e-A4D0azwszqFu3LZqSB29SZXp3HY5N9Mv9zcFJlOAvygYQoo4HXb5IOQl6GN63T__rzKrInOSMIbd3Nc6k4HmYEildlX-NdNMFHwcjHkALh2tTOc2vWLAMVFL2VYA856L9qo81TeBrT22p7PqNtW9e-C6XQWJYWTZhQvuaEf4jgu3vwsKkj6Bd5nag7FpEcwbUs_cW4uj1oXT-eaO2bUBZudSjagSNp0vWhCd4DHdMXrdYN1DT28jp3bQQ7yr97ITisMRtPVoBcNI_iAT8Y9BiSMgga9HWTYl2tmAYcqxm5mSyZR6row24foLeih8f3JKzpN7mu_kNnFxepPiR-emi_874PImEdV99WSSV-u-pru0uMV0WKDPb1PpE8mSGGHRUj9ruvhwQ1OmufkXcJXD45-YIAvxIVNb5cPEFSJJGDrSoSYVmb6ylmeEixmN8pIxiRKgiZ_ZRuXRGqNjZM=",
  "id": "rs_095e49b6a96aa3ed016ab4326d2c2487d0ab278b55fd204354",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.43,\"left_y\":-0.395,\"left_z\":0.11},\"note\":\"The white bowl is now ahead of the left gripper on the tabletop, not securely carried; the previous rim grip slipped during transport. I’ll reopen and approach it from above at its new position for a more controlled pickup.\"}",
  "call_id": "call_jnYlo8XJMKRTAD59hepocdN9",
  "id": "fc_095e49b6a96aa3ed016ab4326fd0fc87d0926af99fbfd1091f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jnYlo8XJMKRTAD59hepocdN9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.1156, 2.281, 2.1555, -1.1622, -0.7082, -1.0363, 0.9954, 0.0196, 1.1393, 0.9382, -0.8417, 0.0429, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3261 left_y=-0.3967 left_z=0.1451 left_yaw=0.0616 left_pitch=-0.2499 left_roll=0.0877 left_gripper=0.9954 right_x=0.2859 right_y=0.0016 right_z=0.1488 right_yaw=0.1291 right_pitch=-0.4881 right_roll=-0.1774 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -13.0667, 6.8444, 0.8816, -0.525, 0.1441, -0.0904, 0.1026, -3.1795, 6.694, 1.1697, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00dafc71642ed09310565624962c811d92fac13952c74583e24cae517fcf5c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28436379db44a2e793b0347e7c6b7f23b373d4b510a88a78087c469beecae968",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d955b16e17e9cd02a18f69126d9a6fab966512d5595895d52cf1d58df767ae9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 142 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9668, 1.9461, 1.668, -0.8436, -0.7132, -0.8536, 0.1015, 0.0216, 1.132, 0.9421, -0.8398, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3577 left_y=-0.3087 left_z=0.1647 left_yaw=0.079 left_pitch=-0.1808 left_roll=0.0696 left_gripper=0.1015 right_x=0.2868 right_y=0.0021 right_z=0.1524 right_yaw=0.1299 right_pitch=-0.4752 right_roll=-0.1793 right_gripper=0.996\nstate[joint_eff]: [-0.6222, -12.8342, 8.6496, 0.8132, -0.652, 0.1001, -0.022, -0.3214, -3.3026, 6.5846, 1.2381, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.1683, 2.2486, 2.1605, -1.2217, -0.7353, -1.0809, 0.1014, 0.0216, 1.1389, 0.9401, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.303 left_y=-0.3999 left_z=0.1617 left_yaw=0.0484 left_pitch=-0.2313 left_roll=0.087 left_gripper=0.1014 right_x=0.2863 right_y=0.0021 right_z=0.1497 right_yaw=0.1305 right_pitch=-0.4855 right_roll=-0.1781 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -16.5128, 6.3521, 0.7204, -0.7106, -0.1245, -0.0122, -0.0615, -3.3573, 6.8444, 1.1844, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.1156, 2.281, 2.1555, -1.1622, -0.7082, -1.0363, 0.9954, 0.0196, 1.1393, 0.9382, -0.8417, 0.0429, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3261 left_y=-0.3967 left_z=0.1451 left_yaw=0.0616 left_pitch=-0.2499 left_roll=0.0877 left_gripper=0.9954 right_x=0.2859 right_y=0.0016 right_z=0.1488 right_yaw=0.1291 right_pitch=-0.4881 right_roll=-0.1774 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -13.0667, 6.8444, 0.8816, -0.525, 0.1441, -0.0904, 0.1026, -3.1795, 6.694, 1.1697, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00dafc71642ed09310565624962c811d92fac13952c74583e24cae517fcf5c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28436379db44a2e793b0347e7c6b7f23b373d4b510a88a78087c469beecae968",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d955b16e17e9cd02a18f69126d9a6fab966512d5595895d52cf1d58df767ae9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ0q9dU6eVrLwZWyoeMw-AqEzwas5acZ6HqxX77YyAnKEBWoOZRMoF88YHMz7k21vz3-JK3GaM9W-UYFsaVUSJcl2qW_gYncXmbItILRkpumBfTrLkPE9s3RDHM1Zq-mpBknkiQ6WTwoDFMolylOuydLJQClmpdXESsBPoinnc_4SdtqnZfaaxbhLkIEeLp_VQrCkZlaVOgTQaiKGyEH5hgL_dwarAytUaIfrYCLd6jQOjrInDl4EuxtaLPIDfVELtdgWCFhaLa_YYhTs3tVXBCsclOkOeZsH0Qx2pUlPIP6mDn5FPLjFx5sSALV1ZcwlSUmY8oKSORCw3J9GWfabD3wcCqa5arxsuUTRgrhIckQ0ZnCh_s1JuAeJVkjfEmXEpVvFPsx6VXk3mD8eH4GFhG0bu2s5XaC8gT2jbAJgn0u1IUiqi0-DFbzwIKDvAEYqauf1MavIU3CFDtFBSK0ADhzP981R3BbcUGBHVxzAIyn8rbZdwgrN74hOSvSRNbdEAiX9BgdvCTMRVzJu40X6k5Gb2doFEIFZy3q1o2O7eEmvC_yJwY1dN1CAcb8QHOqxCGTh9kgBg_ttXCvv0GYqN7TWwTDuUkaV1hrEMIGQlBqlsPVQjQAi9TJkC0Kfohkd3vooKeeC2qfx38QQvysZ_-8L7D2sRf_TPV92Dx8K-ffkjiBW9FUrBGvmQGnBw7EEvbLE1sJC2WDWCbPlEoHIP0AooJJmS4aCRit0ennSNQvpd0sNwBCmIHYd9W1wpVxWIyQ_X_N9eJDsETTbC3W-XnOn-Iml-quQWLkZ4pcbNVMrqEsJD7xQnqlQeiEvpO7ftBhCidtpsQlDrHSjosfst-0nBvEE91Qzr5Un-87WY6yF5Wq-DShVq9HXSEe6NFLVJsmUXU-LXAL2GNQMZqVKwgDMixhdgapjgL7lCNuhTU-EqqngcDMdGGzbEvLuNkfBDrrodAqg_CNClEG7d7lZ0ooJB_cJMiAxDJE9SqCfEuX8exgJsYOWjbgAzERhGZ7Su9euCfeBIoXS_xTO04binQPotspTZr_eWv8XbbMv8d6Cb7blkFnt0r-XzUSgOb6-z-Mz-kvguukeyxlT0AHmBa6J4Rn6Gh_A2969ZpVa5yB-QlalXE8CFAADhZ8yqeImn9471ojoMBPtAmByAnz7TgW1cDmfESoJqp_0iW7ZFbFddQWver9ZGhbLBvOp2fdW1PgbGhqxFTj8gM_FasJBIwaIRA4vVgi9tDztRs8VDGuMwA9JtTn2riOL1mlhcsUvaXmBsaLwhOvzTt6Q00O3CQ7COufgW4Aa8kHlz4clnG66YRCPCjTfbDebjIYPI8D2Acyy0OM_vEnHxpO8BPrxgJfLuP6gsR004qH1XPioh_cd4WwmxewgB2zoGE2oawHgIGbLHnQmnmJmPeDHap3X7hjS1OTwqvjY00F_3Ur7D6_uwbI8Hy0r01rtv_Q8TaSkRj6s87zqKLiT7wPsNbOmPe8-UbkoU5lKxSelYoUWrUSDD3l95tz0nL6RyrcG0PP_Gi",
  "id": "rs_095e49b6a96aa3ed016ab43272fec487d0ae4a36166ce3950f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.35,\"left_z\":0.22},\"note\":\"The left arm advanced only a few centimeters despite the larger command, so it is stalled in an awkward near-center pose. I’ll raise it and step away from the y limit before attempting the forward reach again.\"}",
  "call_id": "call_kW25xH0K26mVagrQP5Fphzzq",
  "id": "fc_095e49b6a96aa3ed016ab432739e9887d0afe348ca8687c381",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kW25xH0K26mVagrQP5Fphzzq",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8936, 2.4744, 2.7934, -1.3979, -0.643, -0.833, 0.9957, 0.0193, 1.1439, 0.9363, -0.8421, 0.0429, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4244 left_y=-0.353 left_z=0.2229 left_yaw=0.0953 left_pitch=-0.2122 left_roll=0.0142 left_gripper=0.9957 right_x=0.2856 right_y=0.0015 right_z=0.1468 right_yaw=0.1292 right_pitch=-0.4949 right_roll=-0.1765 right_gripper=0.996\nstate[joint_eff]: [0.253, -11.3846, 5.559, 0.3687, -0.3199, 0.2222, 0.0317, -0.0615, -3.7128, 6.7077, 1.1404, -0.0073, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b27248c3175981ccfcdb1b78062f3517da0338ef79c99cfc37fded032e578e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c5ae6be2d765fd20c27edc2a60031eb20019cd8aeac26e26ed9fbe60b46f51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ec8d6f96bfc6803c6985afa6f5a7b7625222b920ab0272a21eb20927726574",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0573, 2.3238, 2.3878, -1.2236, -0.72, -0.971, 0.1014, 0.0216, 1.137, 0.9405, -0.8417, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3611 left_y=-0.3959 left_z=0.1944 left_yaw=0.0628 left_pitch=-0.1894 left_roll=0.0196 left_gripper=0.1014 right_x=0.2862 right_y=0.0021 right_z=0.1503 right_yaw=0.1304 right_pitch=-0.4836 right_roll=-0.1783 right_gripper=0.996\nstate[joint_eff]: [-0.7453, -12.8889, 7.4051, 0.3883, -0.6911, -0.0366, -0.0171, -0.1573, -3.7402, 6.8855, 1.1844, -0.0024, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.1156, 2.281, 2.1555, -1.1622, -0.7082, -1.0363, 0.9954, 0.0196, 1.1393, 0.9382, -0.8417, 0.0429, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3261 left_y=-0.3967 left_z=0.1451 left_yaw=0.0616 left_pitch=-0.2499 left_roll=0.0877 left_gripper=0.9954 right_x=0.2859 right_y=0.0016 right_z=0.1488 right_yaw=0.1291 right_pitch=-0.4881 right_roll=-0.1774 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -13.0667, 6.8444, 0.8816, -0.525, 0.1441, -0.0904, 0.1026, -3.1795, 6.694, 1.1697, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8936, 2.4744, 2.7934, -1.3979, -0.643, -0.833, 0.9957, 0.0193, 1.1439, 0.9363, -0.8421, 0.0429, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4244 left_y=-0.353 left_z=0.2229 left_yaw=0.0953 left_pitch=-0.2122 left_roll=0.0142 left_gripper=0.9957 right_x=0.2856 right_y=0.0015 right_z=0.1468 right_yaw=0.1292 right_pitch=-0.4949 right_roll=-0.1765 right_gripper=0.996\nstate[joint_eff]: [0.253, -11.3846, 5.559, 0.3687, -0.3199, 0.2222, 0.0317, -0.0615, -3.7128, 6.7077, 1.1404, -0.0073, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b27248c3175981ccfcdb1b78062f3517da0338ef79c99cfc37fded032e578e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c5ae6be2d765fd20c27edc2a60031eb20019cd8aeac26e26ed9fbe60b46f51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ec8d6f96bfc6803c6985afa6f5a7b7625222b920ab0272a21eb20927726574",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ6r3YJCgsotAhAvGAnsSfuaIF_iNK4L_fPo4kzMtauygtK1tAO9Dv0fi0Bk1g1O-LTcAJ52ETLWlFn1dGndrLvmbrmYyQgEVIuytLmqp-eIXeCM9vMwrOVlKKFVBr1ft63ZCW0To-Ex3tMSIyPWbc7TdiNJheZTUiAqun4JImB4V6TPAgCyJk49KEkUo-W3TKU0vYRo6IYDI_LAKzFookqPh62DQTQVIagZZZthcs-5xFEIVlqJB6wEu6OCh9SOnZ-hDJK4qOB8yB5UxW5ivlgho4OnSYzJKgHLKKSuiTBvv3a4Uzf8yr9BzFFQkwQgu2u_uXNu0bSO9KsPTOOJGajYU9gMSIZg69AZYN81TwPEWup5pJewD5ox8H8dRfK6iQGXLU2ZkwOz3E34o2kgT54ouH14iA_odHNtytKf47UEVr3sW48TdNT_TeVz4wwpoZRjICT2mOQCqPfR4qAp-Dmke4tyL6jlJ72Og54XjYu85MICPo-IFpA_Rd1jcFUEnLY3e-xkPNc2kV6Kdz01n9gEvnCO_Jt35C8QohmNntne4Q4siiPOCbTZoqVrgGoNXT7oMigoo5KKzZptA6LokT9YCYLcxKFOUAGgyPH1T-Tg884AZkSYNo0z2m92lNIugAleiharOj7xqmLF1ettNSUmvKOLq2ozxdZ_u4KG28BF2zdagmWowCEFN40GfQHWBxGnzPmN85IzkmWdWyk1vMW9bQjDx8reXM7j3iGHV5bn-Z3vcRVZp87cmEm3AhbJxlxyn1m2A-fpO8ZXDK0eCfFl-idoKJ30ITPryJDkOGVM5GI7Pyj1c30iHShCbFCbrBL1Ta4fFIe3QiDV5sz8EymF6luDFDLIY0U5oQvIsem-xC2dtH6_hr1dgpr-YoIL3NeGXBILPHB-7FCbkvOufNopCIaAOwHvu-t4YsVTGLjG2pdQMzncuGbDJDSa_7N4Ns5ucfxGtiou7Lk046a59mEN3JpuWdkhbsFWB58CD_X89yj5gAoFcdz7UeCuSAKVE-5QcTE3tIM6yqLRgIddf2TyR5czNNF7FgWxiBmlXzera-xh_12VbFQ8Mo3AiAYaSvMH54VfAmrytZWIj1q1Hma-Yb-9Jg3rMSjWSR_Iu3fLEg7UjOooI8CUtJWPQ90DG44aSqHCT-VptwVQD25A1XyPPYCNSg5qYiCu1OGSSjmzC-cG0Elf5Iu9Ilm4FMFvdC3h7qZksMaFp9bJEebxEBtUQHIJTONhfsQjXSO7A9rC10Ms9rh2l1_xhvi38gOH_Dn9l9-dQJWt7B90wC1heqpITERjC7bHOOBgLMpR_SFq53k4Ym_2BopfiFeVE1yF4Q42BNkydV1Hd3MVKLIjJxTUs1m-5kmsq_TQPrhb0TjjAOWqQDZzpMrMKOtpzMBBa1XAf1ORfRKa8Z-MsFwiCWEEyhS9zEo7MRChTi1Z5pyJ6W_YSTb-B_nLTDYFCV_DpAR83-lLV6IlUYR0mJ8kUOlI7TtOx7TyNJPkV4XwG5Crsn9V4ObNAzfsi0ly9TJR0j2sI7IeD854SE_hXsuQKIGdWdPOh4ATrwLw_AmXP5FIANkuIPtthB4s4mZvnVYtxMmtlHSi1NUa_fciWC2I_-LpCc9U-M8y17ogq5eETuodaNAumeg3ZsslhTJ7G6Edmhsp9kN_cgy_b0A96c4-Emp7pLaVMhkcqfSVp1JUmUQH1yOLJcIGUrbWr1Y2Sdl_5jhvf_RVpfjZG050p1xjI_LmW3d40EnbvkQYZAeKaD1AgE19i7iKunJ8UrxQD3zRNl0j5XwJ09c0sdCqaMwcGdq22mgLWxUaDdnNhlQe-ZAU3aBhSX5BUOrCzS4qimCunYsD4vR0x3GqMXtPUhafBRZNje4oQDgNwwpbNeDJDk7xWf-Zos8KXOCQtpLKqJYMZOYbTC1SYstjBORujwahoyPwE8DtatPJWH7iPivakkEy9O-Q296EZYvyEMO7mdRcVWX9VzkvTtMV6cRvv-mnvioUGqm2xpItm5_JJTFNchGNfdyr8tAgN6rMfngPXVffoyht2ROZlpN0KLI9K8787of4WaW6LDJLHVh4kcJRVsVONenYMlEhuKrshnXkJ9b_IY47SPBkC_opKLf0khZma7EcokHgQbLeMmpyMfZg4nkwteUXeYuMlB2W3q4PdEz5FCynq1hJfyYuO9gbF1LRttlNey0VJFH2LlIgDKJLNXRGXhmvOT1OG2cr7lqlufsHinhaHFzrZWVnO0tXWZRJjuWJ95arNBUt_ZMA11rmuc-Ul9uWP6D0ZuvtlfYpXkyIOqfvf8HlNZJ74tC5V3R0Od0M7lfYXJnJebfVEEd0rGrgRTp64AzcUNLMt0FN5Py0nbpis-POlqJ1gL_HYBVE3wCcQ3a211rSfWk3rel2ltox2_CxYAN4BBwbNM0t6xw8nP7WMHZ-1TIMXrwtl1-Dk-_On5vOXp4wSE5fKUy_7d_KROLtV2d9sRkccvAkNsOyWig53Wg2GDWG9Pa5VstwG9tBKuZZF8CPEWuFUw3WkSt8t4W-zgGHkEBnIp-FkR1N6icy-quDPyt6DprzCvniwJqKM9GObqauMVuzUxKNH2qLf25SjJFS2j302Yhza9fMfb-XPiKoV0AoEuGuPWSNUnFU5Y5pLAR66z2HD2Gg1SmX5dezy3qD0r7FPTmEiSo8mrKsjCWPa-GnnpN6UIiOuwXznnymMzIxORL33LBX_vTxaDH_WNu-IegeLvstm9f2X2CexQg9dmkwLwOyAG2RFWNCcwAL14rK2uomEtxkPpPfiyb7cMLVAbgx_Zx0CXlqMpC",
  "id": "rs_095e49b6a96aa3ed016ab432772cd087d0b0d1bf56ea855d4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.37,\"left_z\":0.015},\"note\":\"The raised arm reached the white bowl, and its left rim now lines up with the jaw center in the wrist view. I’ll narrow the jaws and descend beside that rim, repeating the sidewall approach that briefly held it before.\"}",
  "call_id": "call_kJXIvaGBZYgBzDuk6NJXmkBH",
  "id": "fc_095e49b6a96aa3ed016ab43279a42c87d0aca9635f68a6e34a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kJXIvaGBZYgBzDuk6NJXmkBH",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8921, 2.3257, 1.7512, -0.5022, -0.6285, -0.8345, 0.3728, 0.0193, 1.145, 0.9348, -0.8417, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4227 left_y=-0.353 left_z=0.0342 left_yaw=0.0888 left_pitch=-0.2215 left_roll=0.0039 left_gripper=0.3728 right_x=0.2854 right_y=0.0014 right_z=0.146 right_yaw=0.1289 right_pitch=-0.4972 right_roll=-0.1766 right_gripper=0.996\nstate[joint_eff]: [-0.212, -10.8239, 5.4632, 1.0183, -0.4371, -0.0073, 0.0073, -0.1846, -3.4667, 6.7077, 1.1258, -0.0073, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001a48a95d2d745e6bb62a339ce7ec06c0bc9c0c5955567b4c9451a50f42fd4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d5a7a060e67f59e720d2ea2500a5a1f38cc161f2d857f0941da47fab119b38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126d64ed8260293e24c1143eed4e7d8eaec93cc27feaa9ea3d7513afdbe75be4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.1683, 2.2486, 2.1605, -1.2217, -0.7353, -1.0809, 0.1014, 0.0216, 1.1389, 0.9401, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.303 left_y=-0.3999 left_z=0.1617 left_yaw=0.0484 left_pitch=-0.2313 left_roll=0.087 left_gripper=0.1014 right_x=0.2863 right_y=0.0021 right_z=0.1497 right_yaw=0.1305 right_pitch=-0.4855 right_roll=-0.1781 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -16.5128, 6.3521, 0.7204, -0.7106, -0.1245, -0.0122, -0.0615, -3.3573, 6.8444, 1.1844, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8936, 2.4744, 2.7934, -1.3979, -0.643, -0.833, 0.9957, 0.0193, 1.1439, 0.9363, -0.8421, 0.0429, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4244 left_y=-0.353 left_z=0.2229 left_yaw=0.0953 left_pitch=-0.2122 left_roll=0.0142 left_gripper=0.9957 right_x=0.2856 right_y=0.0015 right_z=0.1468 right_yaw=0.1292 right_pitch=-0.4949 right_roll=-0.1765 right_gripper=0.996\nstate[joint_eff]: [0.253, -11.3846, 5.559, 0.3687, -0.3199, 0.2222, 0.0317, -0.0615, -3.7128, 6.7077, 1.1404, -0.0073, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8921, 2.3257, 1.7512, -0.5022, -0.6285, -0.8345, 0.3728, 0.0193, 1.145, 0.9348, -0.8417, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4227 left_y=-0.353 left_z=0.0342 left_yaw=0.0888 left_pitch=-0.2215 left_roll=0.0039 left_gripper=0.3728 right_x=0.2854 right_y=0.0014 right_z=0.146 right_yaw=0.1289 right_pitch=-0.4972 right_roll=-0.1766 right_gripper=0.996\nstate[joint_eff]: [-0.212, -10.8239, 5.4632, 1.0183, -0.4371, -0.0073, 0.0073, -0.1846, -3.4667, 6.7077, 1.1258, -0.0073, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001a48a95d2d745e6bb62a339ce7ec06c0bc9c0c5955567b4c9451a50f42fd4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d5a7a060e67f59e720d2ea2500a5a1f38cc161f2d857f0941da47fab119b38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126d64ed8260293e24c1143eed4e7d8eaec93cc27feaa9ea3d7513afdbe75be4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ-ByJJc_5ODEuLbHY1Qs-2R6yqCghRjQq8Te486ewEFYmBJb1nYvbXTy_83cGexOpif9lJbMLwcM1CgUoFAsTAuR1x3J1Hh0R_SKG3YlygfTke-tB4pViV9OB5Nk48yQ4vh8HlFjOTjE930ETEvS62iyuvdDryNZg0STI4D7MIoGdx14e2AVVie45E0nN8Mx0nHrI865ZlSg5Qyc2yJQnZ6r9RLEYvcLukZ-Mk3kvke6BQu1G40-hsMcHd4JzbCUlaIDYL-bIidOCklTo5m4QrUNlXBJbX_bdZCAGFExM-cpvHGdi24Es72j09WXdK4CYnDDfU2q89Tq4DGaF1TrMFoyOl48uSPDkT9xQ-SKB8Z6ob1i5s2smD97OOWMiise1pMF93mHzMKIzFf-oRATEqyiyik6r0LhoZ8zsJgjJJoO7ztizgGFfsWSSmHLiB56EMqL2p_VI0jM-r_T6Mz4bDZKGIMh213wFWpM4rR99ZO-tAPPPn-ewf5bOvXdY7wouDLu0duBAV186XdlVohu63Evjem8zzXj-Po39uPn0iRYO75PS9zraLgrBoP20q3hw_Q6QzWmPWATK-hGKKwzbxeKwqtkqrK0Wu-01y1fIL3QlpQormGk0ZKTEgBCqOCZ1utfUyEbsrcMqzz-bOp_EGhZfJ691cY7WkrFn9T6O4Ezc01bIkSi3qAGY3opsRkF_mabDVZLO7OScX1jYMel-Jd2eT3LKwAiF37E-_X0pKfpyMpzclGX6s3Yb9cm_2bkACJNI-FZRY7oekhJob6mPXrl5Q0zuG9tZc4vy4WJnLLuwHr4JsyTFj3YGHX7rUiggVfnmAIBZnhfWppYO3a5NLLO6V09ZJJ5XiUu4Z-5BG6bI4J76TnuUz--p7pfheINUq9mAszGE5ddilF9YrLGDM_azSUtrIil4pAoG9bJgtYBFHHyEpsHduPI5tE2XFZ444o56Gv4MRif6wbK_3cnZBk1DmTICR6tBz0y4dh_HfL_oIe8bh-gF69Y6tBsmMCcjZUJF3ITACODRLxu-MxdM8DEZswSQisI0xh0Z4io92CFlKksBprMPFuill3LWsCcYoNy1ooQh52THNmdB0Mf58hHiRhIaNe21sF6JvZ39CyMplEOEFjQsyaYOiJh9-KFiBgIY3oGDcvA0MFekXMC81haMkZW9LYndsT3gf_lTO8Bxdip2yXilcj4ERUPblYBe44mxF6pBLHEQPsDxzEmfBLgHSYLAgJi6qB0gSNgH_-vFkH43iHgr7erVZ5mkjZhAD4rMvLtONCkPeuPZVmB5M9xIOe8A1JprSZ8Z2QLmurGIwY9Mv6Qo6mfpLDN8TMaSaKsoJZQJKaRSdeK6MR2TL83X1eTYHtV2oRkd40shb1MWQRwNQSsaFdVe9dchNDpgW",
  "id": "rs_095e49b6a96aa3ed016ab4327ccaac87d0969130a3717622dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At low height the white bowl’s left wall falls between the partially closed fingertips: one is outside and the other inside. I’ll finish the pinch and check for a nonzero jaw opening.\"}",
  "call_id": "call_Lb1RfTaSzcrQOYceCm0njybQ",
  "id": "fc_095e49b6a96aa3ed016ab4327d3ac087d0934b0a8098d99e3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lb1RfTaSzcrQOYceCm0njybQ",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8921, 2.3238, 1.7519, -0.4389, -0.6361, -0.8608, 0.0375, 0.0193, 1.145, 0.9348, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.4308 left_y=-0.3613 left_z=0.0429 left_yaw=0.0967 left_pitch=-0.1798 left_roll=-0.0677 left_gripper=0.0375 right_x=0.2854 right_y=0.0014 right_z=0.1461 right_yaw=0.1289 right_pitch=-0.4969 right_roll=-0.1766 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -12.5607, 6.0513, 0.6178, -0.2271, 0.1392, 0.906, -0.212, -3.0154, 6.5709, 1.1551, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada053beb4e3bd913375a8778f892b67e1828249101fea11a891f834cacd162c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a594d44189a5064d0445e8771a4a2af676b83f588556ffd7c50a2569f31e3d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b35a3626de97d5f917c0c657045e051f3c57e75c1f00c641ab2ade813ec436b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.1156, 2.281, 2.1555, -1.1622, -0.7082, -1.0363, 0.9954, 0.0196, 1.1393, 0.9382, -0.8417, 0.0429, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3261 left_y=-0.3967 left_z=0.1451 left_yaw=0.0616 left_pitch=-0.2499 left_roll=0.0877 left_gripper=0.9954 right_x=0.2859 right_y=0.0016 right_z=0.1488 right_yaw=0.1291 right_pitch=-0.4881 right_roll=-0.1774 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -13.0667, 6.8444, 0.8816, -0.525, 0.1441, -0.0904, 0.1026, -3.1795, 6.694, 1.1697, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8921, 2.3257, 1.7512, -0.5022, -0.6285, -0.8345, 0.3728, 0.0193, 1.145, 0.9348, -0.8417, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4227 left_y=-0.353 left_z=0.0342 left_yaw=0.0888 left_pitch=-0.2215 left_roll=0.0039 left_gripper=0.3728 right_x=0.2854 right_y=0.0014 right_z=0.146 right_yaw=0.1289 right_pitch=-0.4972 right_roll=-0.1766 right_gripper=0.996\nstate[joint_eff]: [-0.212, -10.8239, 5.4632, 1.0183, -0.4371, -0.0073, 0.0073, -0.1846, -3.4667, 6.7077, 1.1258, -0.0073, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8921, 2.3238, 1.7519, -0.4389, -0.6361, -0.8608, 0.0375, 0.0193, 1.145, 0.9348, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.4308 left_y=-0.3613 left_z=0.0429 left_yaw=0.0967 left_pitch=-0.1798 left_roll=-0.0677 left_gripper=0.0375 right_x=0.2854 right_y=0.0014 right_z=0.1461 right_yaw=0.1289 right_pitch=-0.4969 right_roll=-0.1766 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -12.5607, 6.0513, 0.6178, -0.2271, 0.1392, 0.906, -0.212, -3.0154, 6.5709, 1.1551, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada053beb4e3bd913375a8778f892b67e1828249101fea11a891f834cacd162c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a594d44189a5064d0445e8771a4a2af676b83f588556ffd7c50a2569f31e3d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b35a3626de97d5f917c0c657045e051f3c57e75c1f00c641ab2ade813ec436b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKBIukmDBNYMpzeCy65BoIP1eTBvdJYCS7-rRzCQQlYhg29cOII3DAang7Cd_jccuKtMk7TBJFlrL9FtTrtSvsVwhqKlykFXcA4YLeXZN8INFu23inHGQzBOrbx0OcKqhvqXWbNFLfMIAC-UQW9JAXPmvFOhkg0xqTIVjSQi4q0zl_ppESZjD3fsDBVU7Q8i5esbLnhYmel6h-FQvNGbN_0SkcZU8HOv8MUdtmqzAgvcfAsRovIsNgLbi8knywW_nI8vt9ZK4YPCsqvKqr4HkRU8v-6E7mfapqkP0aT95K6ytF_nBCoJmO9-7xL0KjfLz4llOGsMynS26qn1ZMell7J0UH5GskfOsQh8Opgu7GlWJFSogzp1LrN73c7gM4RlIhNXQvUYmL7JHsiMFSMqOzklcBwU1q7WDuOg50hKJ0qeBu4kQ_CpPZ015KhifJRycID4aiNZLl6Z-VVZoeNmJCW7E7gp3CQ4F_MSQ12RYFN1dklkqqroR-i-Zg5Z8FLlsPlzXFPWcnBner2Zi2NB1oAVYYrVjBXGYPP6rrrz5NQSfYq1ZZlKoLw0Ng31wkzoMEBiQO-Z6rm0Ieag2yr7Fz2HafWrrt-Gb4zDC4ur5vyQreOy7MWPtpAfDilXsGS_xJv05P-ZqvOTNfZjeU7kRB1KgrbopOv3nYKfewyf8DV0gaZwCAanKPw907GRfJf9OGQqn_kedTb1a815gPs1BSqdCJkOwga0MuUnSNWedVrZ7iafoZWZlC5rf7oef7pB28u2AY1U4u-1DqL3JZN9dMyi41SBI-89nxtwY8eKtohBn7jWLTNPyU0Y2clk5wHw8gCyB_2d60GOAEu66eggx5hutt4vE62SjzYed3pVGTk6LPKIUdAfr70LA1UMKL6TBtnngmygEPAcshwSy3MAaG2_jUfrgwjwrm0dVByInb7RBqTrV-M14aVdvXGBAsEbEx8J-FikRN7iqawD-4UIsZaC-paCIPZfEgwalxIHFOxVllS8Syd8k8SfGEc2Aw0GmWEDzwaZ0F53-5FxZkpbwBiMZZE7tHtd4jZ8CzSU9d33o7X9GinaLlsO_5t2OPOyIhABqj2H3UZvFgvtqx4kcX2Dfoq0EJ92vpoMhQ161EaBW4j-iDgskpGanUXZiF_eSy-_ckLlCg_UVYLM1St_WifZMtf2BQs2gMyj_6CiUV-vyzyxhxTCCMZ3fHELIIjoEqs8hOMGhWTLmvNzuK1miP51Umnv0v9En1t4x_jR_zuuecq3o6SFbi5A7_LnHKdgS1Wif7_pzybbJnWsF-EbP9Y_HBnBAzV1_DDkvoclmQ0paF90ciOabZdSz_SG-2nK-D_ccBdA3WgSdZlEpbvEsWXbnFP3QiSY9TMJu460sUjCVeZONv7Wm0phEpatPKC3C1qAeJTInJB62b3XY9dNTwBeF9N-HTE-AIcOX4JU5o_QRhEPRSIhZlgFb4fmA-Zc9lnuzfXx2laiLgwAjCw8z-KsQ==",
  "id": "rs_095e49b6a96aa3ed016ab43280087087d09f88cffbbc5c4f88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The jaws stopped around 3.6 mm apart, which could be the bowl’s thin wall but is close to the empty-grip range. I’ll lift and watch whether the white bowl leaves the tabletop.\"}",
  "call_id": "call_0YS7cTtEHO6kaCDpqSHZzqcq",
  "id": "fc_095e49b6a96aa3ed016ab43280962087d098e3f50e88e57417",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0YS7cTtEHO6kaCDpqSHZzqcq",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8928, 2.3131, 1.935, -0.6956, -0.6281, -0.8646, 0.0377, 0.0196, 1.145, 0.9348, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.4285 left_y=-0.3609 left_z=0.0848 left_yaw=0.1039 left_pitch=-0.2201 left_roll=-0.0206 left_gripper=0.0377 right_x=0.2854 right_y=0.0015 right_z=0.1461 right_yaw=0.1293 right_pitch=-0.4969 right_roll=-0.1766 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -17.935, 9.1282, 1.1844, -0.3736, -0.0073, 1.0281, -0.1026, -3.2615, 6.612, 1.1697, -0.0122, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e535fcb7b0fc3e826f0e02a20b293c806db04fcb4f264695717cd7b38f021e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2fd7501ba18830b7f16e90e25afad45072de2c490ee092726fade6fe04c025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445a9c24cf3d05dcd5bbc8d671b5088cec9b56d249f53d5ca53101f175af1b05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 151 changed as sent

message 159 changed as sent

message 163 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8936, 2.4744, 2.7934, -1.3979, -0.643, -0.833, 0.9957, 0.0193, 1.1439, 0.9363, -0.8421, 0.0429, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4244 left_y=-0.353 left_z=0.2229 left_yaw=0.0953 left_pitch=-0.2122 left_roll=0.0142 left_gripper=0.9957 right_x=0.2856 right_y=0.0015 right_z=0.1468 right_yaw=0.1292 right_pitch=-0.4949 right_roll=-0.1765 right_gripper=0.996\nstate[joint_eff]: [0.253, -11.3846, 5.559, 0.3687, -0.3199, 0.2222, 0.0317, -0.0615, -3.7128, 6.7077, 1.1404, -0.0073, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8921, 2.3238, 1.7519, -0.4389, -0.6361, -0.8608, 0.0375, 0.0193, 1.145, 0.9348, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.4308 left_y=-0.3613 left_z=0.0429 left_yaw=0.0967 left_pitch=-0.1798 left_roll=-0.0677 left_gripper=0.0375 right_x=0.2854 right_y=0.0014 right_z=0.1461 right_yaw=0.1289 right_pitch=-0.4969 right_roll=-0.1766 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -12.5607, 6.0513, 0.6178, -0.2271, 0.1392, 0.906, -0.212, -3.0154, 6.5709, 1.1551, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8928, 2.3131, 1.935, -0.6956, -0.6281, -0.8646, 0.0377, 0.0196, 1.145, 0.9348, -0.8413, 0.0433, -0.2661, 0.9961]\nstate[eef_state]: left_x=0.4285 left_y=-0.3609 left_z=0.0848 left_yaw=0.1039 left_pitch=-0.2201 left_roll=-0.0206 left_gripper=0.0377 right_x=0.2854 right_y=0.0015 right_z=0.1461 right_yaw=0.1293 right_pitch=-0.4969 right_roll=-0.1766 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -17.935, 9.1282, 1.1844, -0.3736, -0.0073, 1.0281, -0.1026, -3.2615, 6.612, 1.1697, -0.0122, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e535fcb7b0fc3e826f0e02a20b293c806db04fcb4f264695717cd7b38f021e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2fd7501ba18830b7f16e90e25afad45072de2c490ee092726fade6fe04c025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445a9c24cf3d05dcd5bbc8d671b5088cec9b56d249f53d5ca53101f175af1b05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_095e49b6a96aa3ed016ab43282f92087d0b8d5fd70b286fdc5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_z\":0.2},\"note\":\"The white bowl stays alongside the wrist during the lift, but the grip is thin enough that I want to check it in the overhead view. I’ll move back a short distance at a higher clearance and see whether the bowl follows.\"}",
  "call_id": "call_V3WQua9USXlTg5BxPbyKnxKu",
  "id": "fc_095e49b6a96aa3ed016ab432843aec87d0b8250c12bbe0febb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V3WQua9USXlTg5BxPbyKnxKu",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9852, 2.2379, 2.1555, -1.0859, -0.6449, -0.9707, 0.0384, 0.0193, 1.1454, 0.9348, -0.8413, 0.0433, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3762 left_y=-0.3686 left_z=0.1648 left_yaw=0.0996 left_pitch=-0.255 left_roll=-0.0041 left_gripper=0.0384 right_x=0.2855 right_y=0.0014 right_z=0.146 right_yaw=0.1289 right_pitch=-0.4972 right_roll=-0.1766 right_gripper=0.996\nstate[joint_eff]: [-0.6906, -15.9521, 8.335, 0.9255, -0.486, -0.0171, 0.525, -0.1983, -3.2615, 6.6667, 1.2039, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98330bb495cef686ea61237cf40c0d5ab16f222f9658f5bca4c053d97c7ab440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa9276d22959110f9f0cb69de86b9c303b90df35254cf425b80dff1b60cf2da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b35928c413c42039f0e211e27376789df06ebbeb2b44ab78eeaaad28e4f2564",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}